Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes.

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 at the optical center through visual servoing. Subsequently, we can obtain the 3D coordinates of 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.