A gaze tracking system based on DLT calibration technique to control mobile robots

Hugo A Moreno, Hugo A Mendez, Diana C Hernandez, Omar F Loa, Cesar P Carrillo, and Víctor H Flores
Departamento de Ingeniería Robótica, Universidad Politécnica del Bicentenario, C.P. 36283, Silao, Gto., México.

This article is dedicated to Professor Cesar Sciammarella

In this paper, we present a gaze tracking system based on the Direct Linear Transformation (DLT) calibration technique. The focus of our study is to allow the remote interaction and inspection of a user via a mobile robot controlled by the movement of the pupil of the user. To do so, we implemented a differential mobile robot that has mounted a wireless camera. The image captured by the camera is seen by the user via a screen, allowing him/her to look the environment around the robot. By using the DLT algorithm, we can calculate the point of interest that the user observes on the image of the screen with the implementation of a pupil detection system which consists of a camera mounted on the frame of lenses; then, such detection is feedbacked to the system to control the trajectory of the movement of a mobile robot. The present contribution is based on the use of a camera calibration technique based on 6 control points and applied to calibrate the eye movement of the user based on the points observed on the screen. © Anita Publications. All rights reserved.
Keywords: Direct linear transformation, Mobile robot, Gaze tracking.

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