Sensors, Vol. 20, Pages 5271: Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes

Sensors, Vol. 20, Pages 5271: Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes
Sensors doi: 10.3390/s20185271
Authors:
Di Fan
Yanyang Liu
Xiaopeng Chen
Fei Meng
Xilong Liu
Zakir Ullah
Wei Cheng
Yunhui Liu
Qiang Huang

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.

Source: Sensors - September 14, 2020 Category: Biotechnology Authors: Di Fan Yanyang Liu Xiaopeng Chen Fei Meng Xilong Liu Zakir Ullah Wei Cheng Yunhui Liu Qiang Huang Tags: Article Source Type: research