Eye gaze tracking utilizing surface normal identification
First Claim
1. A method comprising:
- capturing, via an image sensor, a sequence of images of a driver of a vehicle over a time period;
in each of the sequence of images, detecting a triangle in three-dimensional (3D) space representing a relationship between three facial features including a first pupil, a second pupil, and a third feature of the driver depicted in the sequence of images, the triangle having vertices corresponding to the first pupil, the second pupil, and the third feature, wherein the third feature is selected from a group consisting of a nose, a mouth, and a chin;
for each of the sequence of images, analyzing the detected triangle in 3D space to identify a plane of the triangle in 3D space;
for each of the sequence of images, analyzing the identified plane of the triangle in 3D space to identify a surface normal for the identified plane in 3D space; and
tracking a change in an eye gaze direction of the driver over the time period by tracking a change in the identified surface normal for the plane in 3D space throughout the sequence of images, wherein the change in the eye gaze direction can be tracked regardless of whether the driver'"'"'s head pose changes during the time period.
2 Assignments
0 Petitions
Accused Products
Abstract
A gaze tracking system captures images of a vehicle operator. The gaze tracking system may detect facial features in the images and track the position of the facial features over time. The gaze tracking system may detect a triangle in an image, wherein the vertices of the triangle correspond to the facial features. The gaze tracking system may analyze the detected triangle to identify a surface normal for the triangle, and may track the surface normal (e.g., across multiple images) to track the eye gaze direction of the driver over time. The images may be captured and analyzed in near-real time. By tracking movement of the driver'"'"'s head and eyes over time, the gaze analysis system may predict or estimate head position and/or gaze direction when one or more facial features are not detectable.
15 Citations
20 Claims
-
1. A method comprising:
-
capturing, via an image sensor, a sequence of images of a driver of a vehicle over a time period; in each of the sequence of images, detecting a triangle in three-dimensional (3D) space representing a relationship between three facial features including a first pupil, a second pupil, and a third feature of the driver depicted in the sequence of images, the triangle having vertices corresponding to the first pupil, the second pupil, and the third feature, wherein the third feature is selected from a group consisting of a nose, a mouth, and a chin; for each of the sequence of images, analyzing the detected triangle in 3D space to identify a plane of the triangle in 3D space; for each of the sequence of images, analyzing the identified plane of the triangle in 3D space to identify a surface normal for the identified plane in 3D space; and tracking a change in an eye gaze direction of the driver over the time period by tracking a change in the identified surface normal for the plane in 3D space throughout the sequence of images, wherein the change in the eye gaze direction can be tracked regardless of whether the driver'"'"'s head pose changes during the time period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A system comprising:
-
an image sensor that captures a sequence of images of a driver of a vehicle over a time period; one or more processors that are communicatively connected to the image sensor and that; (i) detect, in each of the sequence of images captured by the image sensor, a triangle in three-dimensional (3D) space representing a relationship between three facial features including a first pupil, a second pupil, and a third feature of the driver of the vehicle depicted in the sequence of images, the triangle having vertices corresponding to the first pupil, the second pupil, and the third feature, wherein the third feature is selected from a group consisting of a nose, a mouth, and a chin; (ii) for each of the sequence of images, analyze the detected triangle in 3D space to identify a plane of the triangle in 3D space; (iii) for each of the sequence of images, analyze the identified plane of the triangle in 3D space to identify a surface normal for the identified plane in 3D space; and (iv) track a change in an eye gaze direction of the driver over the time period by tracking a change in the identified surface normal for the plane in 3D space throughout the sequence of images, wherein the change in the eye gaze direction can be tracked regardless of whether the driver'"'"'s head pose changes during the time period. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A system comprising:
-
a means for capturing a sequence of images of a driver of a vehicle over a time period; a means for detecting, in each of the sequence of images, a triangle in three-dimensional (3D) space representing a relationship between three facial features including a first pupil, a second pupil, and a third feature of the driver depicted in the sequence of images, the triangle having vertices corresponding to the first pupil, the second pupil, and the third feature, wherein the third feature is selected from a group consisting a nose, a mouth, and a chin; a means for analyzing, for each of the sequence of images, the detected triangle in 3D space to identify a plane of the triangle in 3D space; a means for analyzing, for each of the sequence of images, the identified plane of the triangle in 3D space to identify a surface normal for the identified plane in 3D space; and a means for tracking a change in an eye gaze direction of the driver over the time period by tracking a change in the identified surface normal for the plane in 3D space throughout the sequence of images, wherein the change in the eye gaze direction can be tracked regardless of whether the driver'"'"'s head pose changes during the time period. - View Dependent Claims (18, 19, 20)
-
Specification