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23/4/8 EIE426-AICV 1
Eye Tracking Techniques and applications
eie426-EyeTracking-200903.ppt
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Outline
Part I :Physiology of the EYE Part II : Mechanism of Eye Movements Part III :Eye Tracking Technology Part IV :Eye Tracking Applications
23/4/8 EIE426-AICV 2
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How does our eye work
23/4/8 EIE426-AICV 3
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HOW DOES OUR EYE WORK
Part I :Physiology of the EYE
23/4/8 EIE426-AICV 4
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23/4/8 EIE426-AICV 5
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CAN YOU BELIEVE YOUR EYE
Part II : Mechanism of Eye Movements
23/4/8 EIE426-AICV 6
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HOW EYE TRACKER WORKS
Part III :Eye Tracking Technology
23/4/8 EIE426-AICV 7
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Outline
1. Current State and Application of Eye Gaze Tracking
(EGT) Technology
2. Theory and the Classification of EGT Technology
3. The Framework of EGT system
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Ⅰ. Current State and Application of Eye Gaze Tracking (EGT) Technology
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Ⅰ. Current State and Application of Eye Gaze Tracking (EGT) Technology What is EGT eye gaze——The line from the fovea through the center of
the pupil is the line of sight (LoS). Usually, we take the optical axis as line of gaze (LoG). LoG can be approximate to LoS. In fact, LoS determines a person’s visual attention.
eye gaze Tracking——By image Processing,if the LoG or LoS can be estimated, the point of regard (POR) is
computed as the intersection of the LoG (or LoS) with the object of the scene or space.
History and Development of EGT Interests of Visual attention can be traced back to 1897. At that time, it was a kind of
diagnostic research, i.e. the recording of eye movement. Those technologies include ophthalmometer, Mechanical Method, Electro-Oculography (EOG), Optical-based Method , electromagnetic Oculography
eye movement initially applied in medical research, such as brain and physiology analysis. with the development of Electronics, Computer and Image processing technology, further research focuses on Eye Gaze Tracking Technology .
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Search Coil
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A picture wearing the EOG apparatus
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eye tracking techniques :
1. Direct Observation : ophthalmometer, peep-hole method
2. Mechanic Method : use level to record eye movement
3. Optical-based Method : Reflection Method ( mirror or prism )、 Pupil-
Corneal reflection 、 Purkinje Image
4. Electro-Oculography (EOG): recorded the difference in the skin potential
5. Electromagnetic Oculography : The users gaze is estimated from
measuring the voltage induced in the search coil by an external electro-magnetic
field
Except Optical-based Method, the above methods are more or less low accuracy or
high intrusiveness . As a result, Modern Eye Gaze Tracking Techniques are mostly
based on Optical-based Method.
Ⅰ. Current State and Application of Eye Gaze Tracking (EGT) Technology
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Ⅱ. Theory and the Classification of EGT Technology
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Ⅱ. Theory and the Classification of EGT Technology
Image-Based EGT Technology
1. Infrared Light : out of visible light; Paired with filter to eliminate the light of other wavelength ;
2. Eye camera :tracking eye movement and recording eye image sequence
3. Image Processing: detecting the visual elements
4. Further Estimation: 。 Having pre-processed, the data of eye gaze can be get from eye-movement model
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System Framework
Output
Calibration
Input Image acquisition
Image Processing
FeatureEstimation
Eye Tracking
DataEstimation
Ⅱ. Theory and the Classification of EGT Technology
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Ⅱ. Theory and the Classification of EGT Technology
Function of Each Module11
Image acquisition: get bright pupil or dark pupil
22Image Processing :Filtering ,Noise reducing ,difference ,thresholding
33Feature Estimation: Estimating the center of Pupil and corneal reflection
44Eye Tracking:Estimation of eye gaze
55Data Estimation:
Algorithm validation ,eye movement data analysis
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Theory of EGT Technology
2D to detect the Optical Axis (basic) 2D to detect the Line of Sight (Advanced)
¹â ÖáO A 2 D ·½ ·¨
ÊÓÏß Öá LO S 3 D ·½ ·¨
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Classification of EGT Technology
view of view of humanityhumanity
in tr u s iv e £º C o n tac t len s ¡¢ P h o to - tr an s m ite r ¡¢ I R lig h t em itt in g d io d esn o n - in tr u s iv e £º u s e im ag e- b as ed M eth o d
D ia g n o s t ic£º Us e th e Ey e m o v e m e n t ch a ra cte rs to Ps y ch o lo g y a n d Ne u ro s cie n ce (n e e d to dis t in g u is h dif f e re n t ty pe o f e y e m o v m e n t )I n te ra ct iv e £º Us e Ey e M o v m e n t to de cide Po in t o f R e g a rd ,u s e fo r in te ra ct io n £¨ n e e d to k n o w th e v is iu a l a t t e n t io n £©
View of View of appearanceappearance
B o dy-M o unte d£º g o g g l e ¡¢ he l m e t¡¢ bac k pac k, e tcno te : al tho ugh labe le d with inrus ive ,but m o re and m o re bo dy-M o unte d s ys te m sare be c o m ing no n- intrus ive
R e m o te s ys te m £º R e m o te E YE G aze Tr ac ke r (R E G T)
view ofview of application application
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Ⅱ. Theory and the Classification of EGT Technology From View of Humanity
Usually By goggle , helmet …
features: high accuracy
defects: intrusiveness
RemoteEye Tracker
Usually on tablefeatures: non-intrusive defects: eye and head
relative motion
Head MountedEye Tracker
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Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
Limbus-Scalar IR Tracking
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. By placing IR light emitting diodes and photo-transistors, respectively, above and below the eye. the resulting voltage difference is proportional to the angular deviation of the eye.
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
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Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
The Limbus is the boundary between the white sclera and the dark iris of the eye. By placing IR light emitting diodes and photo-transistors, respectively, above and below the eye. the resulting voltage difference is proportional to the angular deviation of the eye.
将两对氯化银皮肤表面电极分别置于眼睛左右、上下两侧 , 就能引起眼球变化方向上的微弱电信号 , 经放大后得到眼球运动的位置信息
The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
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Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
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Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
将两对氯化银皮肤表面电极分别置于眼睛左右、上下两侧 , 就能引起眼球变化方向上的微弱电信号 , 经放大后得到眼球运动的位置信息
The Limbus is the boundary between the white sclera and the dark iris of the eye. By placing IR light emitting diodes and photo-transistors, respectively, above and below the eye. the resulting voltage difference is proportional to the angular deviation of the eye.
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
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Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
![Page 26: Eie426 eye tracking-v2 (1)](https://reader033.fdocuments.us/reader033/viewer/2022061121/546db2efaf7959fb678b6890/html5/thumbnails/26.jpg)
Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
将两对氯化银皮肤表面电极分别置于眼睛左右、上下两侧 , 就能引起眼球变化方向上的微弱电信号 , 经放大后得到眼球运动的位置信息
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
![Page 27: Eie426 eye tracking-v2 (1)](https://reader033.fdocuments.us/reader033/viewer/2022061121/546db2efaf7959fb678b6890/html5/thumbnails/27.jpg)
Purkinje Image The Purkinje images are reflections created at different layers of the eye structure. Eye gaze can be calculated from these relative positions of these reflections
EOG
ANN
Contact Lens
Pupil-Corneal reflection
By placing electrodes around the eye, it is possible to measure small differences in the skin potential corresponding to eye movement.
The Limbus is the boundary between the white sclera and the dark iris of the eye. This boundary can easily be optically detected and tracked
Training images are taken when the user is looking at a specific Calibration markers. Use ANN to decide the eye gaze
Use a small coil embedded into a contact lens that is tightly fit over the sclera . The user’s gaze is estimated from measuring the voltage induced in the search coil by an external electro-magnetic field.
The IR source can generate a glint on corneal and divide pupil from iris, the difference between can represent the eye gaze movement
Limbus-Scalar IR Tracking
Ⅱ. Theory and the Classification of EGT
Technology From View of Theory
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Ⅱ. Theory and the Classification of EGT
Technology EGC Technology Accuracy Features
Purkinje Image 0.0170High accuracy, but the light is hard to control and can only be used in Lab
EOG 1.50-2° low robustness, low accuracy, high intrusiveness
Limbus TrackingV 10-70
H 0.50-70
Horizontal accuracy is better than Vertical, but both are low
ANN 1.3-1.8° No need of calibration,low accuracy,
Contact Lens 0.080 high accuracy, high intrusiveness
Pupil Corneal Reflection 1° The best one till now
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Ⅱ. Theory and the Classification of EGT Technology Feature of Eye Movement
从系统从系统应用角度应用角度
D iag n o s tic ( Õï ÁÆʽ) £º ÊÓÏß ×· ×ٵĽá¹û ×÷ Ϊ Ò»¸ö ¶¨ Á¿ ÌØ ÐÔ£¬ ¿¼²ì È˵ÄÊÓ¾õºÍ ÐÄÀí ѧÑо¿ £¨ ¾ø¶Ô׼ȷ ÐÔ£¬ ¶ÔÑÛÇò ¶¯ ×÷ µÄÇø ·Ö £©I n ter ac tiv e ( ½»»¥ ʽ) £º Ö»Òª ×· ×Ù³ö ÊÓÏß £¬ ×÷ Ϊ ºó ¶Ë ½»»¥ µÄÊä Èë £¨ Ïà ¶Ô׼ȷ £¬ Ò»°ã ²» Çø ·Ö ÑÛÇò µÄÔ˶¯ ÌØ ÐÔ£¬ Ö»Òª Öª µÀÊÓÏß ·½ Ïò £©
view of view of humanityhumanity
in tr u s iv e £º C o n tac t len s ¡¢ P h o to - tr an s m ite r ¡¢ I R lig h t em itt in g d io d esn o n - in tr u s iv e £º u s e im ag e- b as ed M eth o d
S m o o th P urs uitvo lec ity£º 1o /s ~30o /s
F ixa tio ndura tio n:1 0 0 ~ 2 0 0 m s
S a c c a de sangle: 1o~4o
d uratio n£º 30~ 120m svo lec ity:400o /s ~600o /s
Ta x o n o m y a n d M o d e ls o f E y e M o ve m e n ts
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Early stage : Direct Observation ,Mechanical Method Initial Methods, not used any more for high intrusiveness and poor accuracy
Development : EOG 、 Electromagnetic Oculography Although have improved a lot and widely used , these method are disappearing because of the intrusiveness
Advanced : Optical Method :Because of its’ high accuracy and low intrusiveness, Optical Method have made rapid progress in recent years.
1. The Purkinje images are reflections created at different layers of the eye structure. and the eye gaze can be calculated from these relative positions of these reflections
2. Photo-Oculography : it measures the eye movement during it's translation/rotation. with the IR light source, shape of the pupil ,Limbus or corneal reflection is detected
3. Limbus-Scalar IR Method: They place IR light emitting diodes and IR light sensitive photo-transistors, respectively, above and below the eye. Several such IR pairs can be mounted on goggles or helmets, a photo-transistor transforms the reflected IR light into a voltage. the resulting voltage difference is proportional to the angular deviation of the eye.
4. Pupil-Corneal Reflection: The IR source can generate a glint on corneal and divide pupil from iris, the camera can extract the pupil which represent the eye gaze, on the other hand the corneal reflection represent the head motion, as a result, the difference between them represents the real eye gaze movement. 。
Ⅱ. Theory and the Classification of EGT Technology Development
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Ⅱ. Theory and the Classification of EGT Technology Feature of Remote Eye Gaze Tracker
Robustness Light Source Eyelash, Eyelids and Camera Position System Error Eye station (dry or wet) head motion
Lower accuracy than Head Mounted Eye Tracker
View of View of appearanceappearance
B o dy-M o unte d£º g o g g l e ¡¢ he l m e t¡¢ bac k pac k, e tcno te : al tho ugh labe le d with inrus ive ,but m o re and m o re bo dy-M o unte d s ys te m sare be c o m ing no n- intrus ive
R e m o te s ys te m £º R e m o te E YE G aze Tr ac ke r (R E G T)
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Ⅲ A Practical Eye Gaze Tracking System
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Ⅲ A Practical Eye Gaze Tracking SystemFramework of EGT System
Hardware : a Pair of Cameras eye camera scene camera
eye camera is for acquisition of pupil corneal reflection image, scene camera is for: 1 mapping from the eye image coordinate to scene image coordinate ;2 Showing the combining result of POR and scene in same image :
V is u al S tim u lu s
T rac k in g o fP u p il
-C o rn e alR e fle c tio n
A utoM a pping
M o rnite r
P C
O utput o f E ye V ide o S tre a m
IR S o urc e
IR S o urc e
E ye C a m e ra
S c e ne C a m e ra
O ptic a l S ys te m
O utput o f S c e ne V ide o S tre a m
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Ⅲ A Practical Eye Gaze Tracking Systemappearance of EGT System
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Ⅲ Practical Eye Gaze Tracking SystemTheory of a Head Mounted Eye Tracker
Eye Camera Capture
Pupil-Corneal image
Scene Camera
Mapping between Eye Coordinate to Scene
Coordinate
Estimate Pupil-Corneal
reflection
22222222222
222222222D
xianglian
Eye Tracking
Result
Coordinate Mapping
Calibration
Tracking
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When IR source is placed near the optical axis of the camera bright pupil as can be seen ;while IR is placed off the optical axis, a dark pupil can be seen. By Thresholding, a robust pupil contour can be extracted .
Bright Pupil
Dark Pupil
Difference Image
Ⅲ Practical Eye Gaze Tracking SystemBright Pupil and Dark Pupil
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Ⅲ Practical Eye Gaze Tracking SystemBright Pupil and Dark Pupil
The IR source can generate a glint on corneal and divide pupil from iris, the camera can extract the pupil which represent the eye gaze, on the other hand the corneal reflection represent the head motion, as a result, the difference between them represents the real eye gaze movement.
Bright Pupil
Dark Pupil
Corneal ReflectionCorneal Reflection
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Ⅲ Practical Eye Gaze Tracking System
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Ⅲ Practical Eye Gaze Tracking System
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Ⅲ Practical Eye Gaze Tracking System
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HOW FAR YOU CAN FLY Part IV :Applications
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Applications
Human Computer Interaction (HCI)—— efficiency, humanity
Intelligent Control —— EGT and Weapon Control
Human Movement Study ——Typing, physical training
Psychology —— Antinational Neuroscience,
Visual attention & Driving ——Aviation, navigation, driving,
traffic accidents inspection
Scene and Image Perception—— Web, AD, Designing, Scene
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Most Recent Application