Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes

doi:10.3390/s20185271

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes
	Fan, Di 5; Liu, Yanyang 6; Chen, Xiaopeng 1,5; Meng, Fei 1,2; Liu, Xilong 3; Ullah, Zakir 1; Cheng, Wei 5; Liu, Yunhui 4; Huang, Qiang 1,2
刊名	SENSORS
	2020-09-01
卷号	20 期号:18 页码:24
关键词	active binocular vision 3D coordinates estimation eye gaze 3D triangulation robotic bionic eyes
DOI	10.3390/s20185271
通讯作者	Chen, Xiaopeng(xpchen@bit.edu.cn)
英文摘要	Three-dimensional (3D) triangulation based on active binocular vision has increasing amounts of applications in computer vision and robotics. An active binocular vision system with non-fixed cameras needs to calibrate the stereo extrinsic parameters online to perform 3D triangulation. However, the accuracy of stereo extrinsic parameters and disparity have a significant impact on 3D triangulation precision. We propose a novel eye gaze based 3D triangulation method that does not use stereo extrinsic parameters directly in order to reduce the impact. Instead, we drive both cameras to gaze at a 3D spatial point P at the optical center through visual servoing. Subsequently, we can obtain the 3D coordinates of P through the intersection of the two optical axes of both cameras. We have performed experiments to compare with previous disparity based work, named the integrated two-pose calibration (ITPC) method, using our robotic bionic eyes. The experiments show that our method achieves comparable results with ITPC.
资助项目	National Natural Science Foundation of China[91748202] ; Science and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019003] ; Open Project Fund of Hebei Static Traffic Technology Innovation Center, AIPARK[001/2020] ; Pre-research Project[41412040101]
WOS关键词	HEAD ; RECONSTRUCTION ; CALIBRATION ; SYSTEM
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	MDPI
WOS记录号	WOS:000582633800001
资助机构	National Natural Science Foundation of China ; Science and Technology Program of Beijing Municipal Science and Technology Commission ; Open Project Fund of Hebei Static Traffic Technology Innovation Center, AIPARK ; Pre-research Project
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/41811]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Chen, Xiaopeng
作者单位	1.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China 2.Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 4.Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong 999077, Peoples R China 5.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China 6.AIPARK, Zhangjiakou 075000, Peoples R China
推荐引用方式 GB/T 7714	Fan, Di,Liu, Yanyang,Chen, Xiaopeng,et al. Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes[J]. SENSORS,2020,20(18):24.
APA	Fan, Di.,Liu, Yanyang.,Chen, Xiaopeng.,Meng, Fei.,Liu, Xilong.,...&Huang, Qiang.(2020).Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes.SENSORS,20(18),24.
MLA	Fan, Di,et al."Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes".SENSORS 20.18(2020):24.