The use of INTER-EYE for 3D eye-tracking systematic error compensation

Zanetti, Matteo; Cecco, M. De; Fornaser, Alberto; Leuci, Malvina; Conci, Nicola

doi:10.1109/elmar.2016.7731780

Cited by 2 publications

(3 citation statements)

References 3 publications

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“…The main disadvantage affecting this technology is the sensibility to various factors such as light condition, the color of the iris, head movement [16,17]. In this context, [18][19][20] analyzed these elements and provided a more detailed characterization of the measurement process together with a method to assess and compensate [21,22] for uncertainty in eye tracking. The latter element was considered in the proposed solution, and it proved to be a key element for the smooth control of the wheelchair using a commercial, non-invasive, eye tracker.…”

Section: Eye Trackingmentioning

confidence: 99%

“…In the case of eyetracking, the uncertainty in the assessment of the gazed point is instead a critical element: its magnitude, which is not negligible, tends to decrease the accuracy of the interaction between the user and mechatronic system. This uncertainty, in the form of both random and systematic errors in the measurement of the gazed position, should be corrected before applying any control law for wheelchair navigation to improve the usability and intuitiveness of the system [22,29].…”

Section: Eye Tracking As Driving Interfacementioning

confidence: 99%

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RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

et al. 2021

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Any severe motor disability is a condition that limits the ability to interact with the environment, even the domestic one, caused by the loss of control over one’s mobility. This work presents RoboEYE, a power wheelchair designed to allow users to move easily and autonomously within their homes. To achieve this goal, an innovative, cost-effective and user-friendly control system was designed, in which a non-invasive eye tracker, a monitor, and a 3D camera represent some of the core elements. RoboEYE integrates functionalities from the mobile robotics field into a standard power wheelchair, with the main advantage of providing the user with two driving options and comfortable navigation. The most intuitive and direct modality foresees the continuous control of frontal and angular wheelchair velocities by gazing at different areas of the monitor. The second, semi-autonomous modality allows navigation toward a selected point in the environment by just pointing and activating the wished destination while the system autonomously plans and follows the trajectory that brings the wheelchair to that point. The purpose of this work was to develop the control structure and driving interface designs of the aforementioned driving modalities taking into account also uncertainties in gaze detection and other sources of uncertainty related to the components to ensure user safety. Furthermore, the driving modalities, in particular the semi-autonomous one, were modeled and qualified through numerical simulations and experimental verification by testing volunteers, who are regular users of standard electric wheelchairs, to verify the efficiency, reliability and safety of the proposed system for domestic use. RoboEYE resulted suitable for environments with narrow passages wider than 1 m, which is comparable with a standard domestic door and due to its properties with large commercialization potential.

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Section: Eye Trackingmentioning

confidence: 99%

Section: Eye Tracking As Driving Interfacementioning

confidence: 99%

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

et al. 2021

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“…Although the model is simple, the proposed screen calibration method is too complex. Zanetti et al [20] used Kinect equipment to reduce the line-of-sight tracking error based on pupil-cornea reflection in 3D scenes and improve the accuracy of the subject's eye feature tracking under infrared light irradiation. Elmadjian [21] revealed the limitations of the widely used 3D gaze estimation technology and proposed a new calibration procedure, which uses the uncalibrated head-worn binocular eye tracker and RGB-D camera to track the 3D gaze within the scene volume.…”

Section: Introductionmentioning

confidence: 99%

An Improved Unscented Kalman Filtering Combined with Feature Triangle for Head Position Tracking

Zhang

et al. 2023

Electronics

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Aiming at the problem of feature point tracking loss caused by large head rotation and facial occlusion in doctors, this paper designs a head-position-tracking system based on geometric triangles and unscented Kalman filtering. By interconnecting the three feature points of the left and right pupil centers and the tip of the nose, they form a coplanar triangle. When the posture of the doctor’s head changes due to rotation, the shape of the corresponding geometric triangle will also deform. Using the inherent laws therein, the head posture can be estimated based on changes in the geometric model. Due to the inaccurate positioning of feature points caused by the deflection of the human head wearing a mask, traditional linear Kalman filtering algorithms are difficult to accurately track feature points. This paper combines geometric triangles with an unscented Kalman Filter (UKF) to obtain head posture, which has been fully tested in different environments, such as different faces, wearing/not wearing masks, and dark/bright light via public and measured datasets. The final experimental results show that compared to the linear Kalman filtering algorithm with a single feature point, the traceless Kalman filtering algorithm combined with geometric triangles in this paper not only improves the robustness of nonlinear angle of view tracking but also can provide more accurate estimates than traditional Kalman filters.

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The use of INTER-EYE for 3D eye-tracking systematic error compensation

Cited by 2 publications

References 3 publications

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

An Improved Unscented Kalman Filtering Combined with Feature Triangle for Head Position Tracking

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