Gliding and Saccadic Gaze Gesture Recognition in Real Time (Rozado, 2011)

David Rozado with the Department of Neural Computation at the Universidad Autonoma de Madrid have developed a neural network approach for detecting gaze gestures in real time. I met David at ITU Copenhagen last summer when he was visiting and discussed this research, I'm happy to see that it came out with such great results. This research was part of Davids Ph.D thesis which focused on Hierarchical Temporal Memory (HTM) neural network which is a bioinspired pattern recognition algorithm. Using a low cost webcam and the ITU Gaze Tracker he is able to recognize ten different gestures with 90% accuracy using raw data. When a fixation detection algorithm and dwell time triggers are employed it is possible to achieve 100% detection rates (at the expense of longer activation times). 

Head-mounted eye-tracking application for driving

Nicolas Schneider have for his masters thesis modified the ITU Gaze Tracker for eye tracking in an automotive setting. It incorporates a scene camera and software that calibrates and integrates it in the platform. The project was carried out at Schepens Eye Research Institute at Harvard and there is a good chance it will be released open source. A fine piece of work and an awesome addition to the framework. We're impressed by the results. More info to follow, for now enjoy this video.

• Nicolas Schneider, Peter Bex, Erhardt Barth, and Michael Dorr. 2011. An open-source low-cost eye-tracking system for portable real-time and offline tracking. In Proceedings of the 1st Conference on Novel Gaze-Controlled Applications (NGCA '11). ACM, New York, NY, USA, , Article 8 , 4 pages. (Full text: PDF Online)

Gaze Tracker 2.0 Preview

On my 32nd birthday I'd like to celebrate by sharing this video highlighting some of the features in the latest version of the GT2.0 that I've been working on with Javier San Agustin and the GT forum. Open source eye tracking have never looked better. Enjoy!


HD video available (click 360p and select 720p)

Open-source gaze tracker awarded Research Pearls of ITU Copenhagen

The open-source eye tracker ITU Gaze Tracker primarily developed by Javier San Augustin, Henrik Skovsgaard and myself has been awarded the Research Pearls of the IT University of Copenhagen. A presentation will be held at ITU on May 6th at 2pm. The software released one year ago have seen more than 5000 downloads by students and hobbyist around the world. It's rapidly approaching a new release which will offer better performance and stability for remote tracking and many bug fixes in general. The new version adds support for a whole range of new HD web cameras. These provides a vastly improved image quality that finally brings hope for a low-cost, open, flexible and reasonably performing solution. The ambitious goal strives to make eye tracking technology available for everyone, regardless of available resources. Follow the developments at the forum. Additional information is available at the ITU Gaze Group.

"The Open-Source ITU Gaze Tracker"

Abstract:
Gaze tracking offers them the possibility of interacting with a computer by just using eye movements, thereby making users more independent. However, some people (for example users with a severe disability) are excluded from access to gaze interaction due to the high prices of commercial systems (above 10.000€). Gaze tracking systems built from low-cost and off-the-shelf components have the potential of facilitating access to the technology and bring prices down.

The ITU Gaze Tracker is an off-the-shelf system that uses an inexpensive web cam or a video camera to track the user’s eye. It is free and open-source, offering users the possibility of trying out gaze interaction technology for a cost as low as 20€, and to adapt and extend the software to suit specific needs.

In this talk we will present the open-source ITU Gaze Tracker and show the different scenarios in which the system has been used and evaluated.

PhD Defense: Off-the-Shelf Gaze Interaction

Javier San Agustin will defend his PhD thesis on "Off-the-Shelf Gaze Interaction" at the IT University of Copenhagen on the 8th of January from 13.00 to (at most) 17.00. The program for the event consists of a one hour presentation which is followed by a discussion with the committee, formed by Andrew Duchowski, Bjarne Kjær Ersbøll, and Arne John Glenstrup. Whereby a traditional reception with snacks and drinks will be held.

Update: The thesis is now available as PDF, 179 pages, 3.6MB.

Abstract of the thesis:

People with severe motor-skill disabilities are often unable to use standard input devices such as a mouse or a keyboard to control a computer and they are, therefore, in strong need for alternative input devices. Gaze tracking offers them the possibility to use the movements of their eyes to interact with a computer, thereby making them more independent. A big effort has been put toward improving the robustness and accuracy of the technology, and many commercial systems are nowadays available in the market.

Despite the great improvements that gaze tracking systems have undergone in the last years, high prices have prevented gaze interaction from becoming mainstream. The use of specialized hardware, such as industrial cameras or infrared light sources, increases the accuracy of the systems, but also the price, which prevents many potential users from having access to the technology. Furthermore, the different components are often required to be placed in specific locations, or are built into the monitor, thus decreasing the flexibility of the setup.

Gaze tracking systems built from low-cost and off-the-shelf components have the potential to facilitate access to the technology and bring the prices down. Such systems are often more flexible, as the components can be placed in different locations, but also less robust, due to the lack of control over the hardware setup and the lower quality of the components compared to commercial systems.

The work developed for this thesis deals with some of the challenges introduced by the use of low-cost and off-the-shelf components for gaze interaction. The main contributions are:

• Development and performance evaluation of the ITU Gaze Tracker, an off-the-shelf gaze tracker that uses an inexpensive webcam or video camera to track the user's eye. The software is readily available as open source, offering the possibility to try out gaze interaction for a low price and to analyze, improve and extend the software by modifying the source code.

• A novel gaze estimation method based on homographic mappings between planes. No knowledge about the hardware configuration is required, allowing for a flexible setup where camera and light sources can be placed at any location.

• A novel algorithm to detect the type of movement that the eye is performing, i.e. fixation, saccade or smooth pursuit. The algorithm is based on eye velocity and movement pattern, and allows to smooth the signal appropriately for each kind of movement to remove jitter due to noise while maximizing responsiveness.

ITU GazeTracker in the wild

Came across these two Youtube videos from students out there using the ITU GazeTracker in their HCI projects. By now the software has been downloaded 3000 times and the forum has seen close to three hundred posts. It's been a good start, better yet, a new version is in the makings. It offers a complete network API for third party applications, improved tracking performance, better camera control and a number of bugfixes (thanks for your feedback). It will be released when it's ready.







Thanks for posting the videos!

Hi –fi eyetracking with a lo-fi eyetracker: An experimental usability study of an eyetracker built from a standard web camara (Barret, M., 2009)

Marie Barret, a masters student at the ITU Copenhagen have now finished her thesis. It evaluates eye typing performance using the ITU Gaze Tracker (low-cost web cam eye tracker) in the Stargazer and GazeTalk interfaces. The thesis in written in Danish (113 pages) but I took the freedom of translating two charts from the thesis found below. The results will be presented in English at the COGAIN 2009 conference, May 26th (session three, track one at 1:50PM) For now I quote the abstract:

"Innovation has facilitated sufficient mainstream technology to build eyetrackers from off-the-shelf-components. Prices for standard eyetrackers start at around € 4000. This thesis describes an experimental usabilty study of gazetyping with a new input device built from a standard web camera without hardware modifications. Cost: € 20. Mainstreaming of assistive technologies holds potential for faster innovation, better service, lower prices and increased accessibility. Off-the-shelf-eyetrackers must be usability competitive to standard eyetrackers in order to be adopted, as eyetracking - even with expensive hardware - presents usability issues. Usability is defined as effectiveness, efficiency and user satisfaction (ISO 9242-11, 1998).

Results from the 2 * 2 factors experiment significantly indicate how the new input device can reach the usability standards of expensive eyetrackers. This study demonstrates that the off-the-shelf-eyetracker can achieve efficiency similar to an expensive eyetracker with no significant effect from any of the tested factors. All four factors have significant impact on effectiveness. A factor that can eliminate the effectiveness difference between the standard hardware and an expensive eyetracker is identified. Another factor can additionally improve effectiveness.

Two gazetyping systems specifically designed for noisy conditions e.g. due to bad calibration and jolting are tested. StarGazer uses a zooming interface and GazeTalk uses large buttons in a static graphic user interface. GazeTalk is significantly more effective than StarGazer. The large onscreen buttons and static interface of GazeTalk with dwell time activation absorb the noise from the input device and typing speeds obtained are comparable to prior research with a regular eyetracker. Clickactivation has for years (Ware & Mikaelian 1987) proved to improve efficiency of gazebased interaction. This experiment demonstrates that this result significantly applies to off-the-shelf eyetrackers as well. The input device relies on the user to compensate for off-set with head movements. The keyboards should support this task with a static graphic user interface." Download thesis as pdf (in Danish)

Gaze Controlled Driving

This is the paper on using eye trackers for remote robot navigation I had accepted for the CHI09 conference. It has now appeared on the ACM website. Note that the webcam tracker referred to in the paper is the ITU Gaze Tracker in an earlier incarnation. The main issue while using it is that head movements affect the gaze position and creates an offset. This is easier to correct and counterbalance on a static background than moving image (while driving!)

Abstract

"We investigate if the gaze (point of regard) can control a remote vehicle driving on a racing track. Five different input devices (on-screen buttons, mouse-pointing low-cost webcam eye tracker and two commercial eye tracking systems) provide heading and speed control on the scene view transmitted from the moving robot. Gaze control was found to be similar to mouse control. This suggests that robots and wheelchairs may be controlled ―hands-free‖ through gaze. Low precision gaze tracking and image transmission delays had noticeable effect on performance."

• Tall, M., Alapetite, A., San Agustin, J., Skovsgaard, H. H., Hansen, J. P., Hansen, D. W., and Møllenbach, E. 2009. Gaze-controlled driving. In Proceedings of the 27th international Conference Extended Abstracts on Human Factors in Computing Systems (Boston, MA, USA, April 04 - 09, 2009). CHI EA '09. ACM, New York, NY, 4387-4392. DOI= http://doi.acm.org/10.1145/1520340.1520671

ITU Gaze Tracker: Low-cost gaze interaction: ready to deliver the promises (San Agustin, J et al., 2009)

The research paper on the ITU Gaze Tracker that Javier San Agustin presented at CHI09 is now available at the ACM website. It evaluates a previous version of the gaze tracker in two tasks, target acquisition and eye typing in comparison with mouse, SMI IViewX RED and the Tobii 1750.

Abstract
"Eye movements are the only means of communication for some severely disabled people. However, the high prices of commercial eye tracking systems limit the access to this technology. In this pilot study we compare the performance of a low-cost, web cam-based gaze tracker that we have developed with two commercial trackers in two different tasks: target acquisition and eye typing. From analyses on throughput, words per minute and error rates we conclude that a low-cost solution can be as efficient as expensive commercial systems."

• San Agustin, J., Skovsgaard, H., Hansen, J. P., and Hansen, D. W. 2009. Low-cost gaze interaction: ready to deliver the promises. In Proceedings of the 27th international Conference Extended Abstracts on Human Factors in Computing Systems (Boston, MA, USA, April 04 - 09, 2009). CHI EA '09. ACM, New York, NY, 4453-4458.
  Download at ACM website.

A brief users guide to the ITU Gaze Tracker

Today we release a short users guide for the open source eye tracker we presented some weeks ago. Hopefully it will assist first time users to configure the software and understanding the limitations of the initial version. Comments and suggestions appreciated.

• Download the pdf document (0.6Mb)

IDG Interview with Javier San Agustin

During the CHI09 in Boston last week Nick Barber from the IDG Network stopped by to record an interview with Javier San Agustin, member of the ITU GazeGroup. The video has now surfaced on several IDG sites around the world, clearly there is an interest for easy to use, low cost eye tracking. After the initial release of ITU Gaze Tracker we have setup a community forum at forum.gazegroup.org, with the ambition to connect users of open source eye tracking. If you like to be part of project, please join in promoting and developing an alternative. It´s open and accessible for all (platform documentation to be released in next week)

Hopefully, ideas and contributions to platform through the community makes the platform take off. Considering the initial release to be a Beta version, there are of course additional improvements to make. Additional cameras needs to be verified and bugs in code to be handled.

If you experience any issues or have ideas for improvements please post at http://forum.gazegroup.org

PCWorld.com

Computerworld.com.au

WebWereld.nl

PCAdvisor.co.uk

TechWorld.nl

IDG.no/ComputerWorld

ComputerWorld.dk

ComputerWorld.hu

ARNnet.com.au

Introducing the ITU GazeTracker

The ITU Gaze Tracker is an open-source eye gaze tracking application that aims to provide a low-cost alternative to commercial gaze tracking systems and thereby making the technology more accessible. It is being developed by the Gaze Group at the IT University of Copenhagen, supported by the Communication by Gaze Interaction Association (COGAIN). The eye tracking software is video-based, and any camera equipped with infrared nightvision can be used, such as a video camera or a webcam. The cameras that have been tested with the system can be found in our forum.

Features:

• Supports head mounted and remote setups
• Tracks both pupil and glints
• Supports a wide variety of camera devices
  
• Configurable calibration
• Eye-mouse capabilities
• UDPServer broadcasting gaze data
• Full source code provided
  

We encourage users and developers to test our software with their cameras and provide feedback so we can continue development. The ITU Gaze Tracker is released under the GLP3 open source license and the full source code is hosted at sourceforge. It´s written in C# using Emgu OpenCV wrapper for C++ image processing. (Microsoft .Net 3.5 needed) Once the tracker has been started it can be configured to broadcast gaze data via the UDP protocol which makes it easy to pick up in your own applications. We provide a sample implementation on a client in C#.

Open source eye tracking has never been easier. Download the binaries, plug the camera and launch the application. Adjust the sliders to match your camera and start the calibration.

Visit the ITU GazeGroup to download the software package. Please get in touch with us at http://forum.gazegroup.org

Radio interview with DR1

Thomas Behrndtz from the Danish Radio (DR1) came by the other day to do an interview on the upcoming ITU Gaze Interaction platform. It resulted in a five minute episode on the "Videnskaben kort", a radio program on interesting progress in science. Lately we have been working hard on the software package which is to be released at CHI09 in Boston next week. It includes a number of applications and tools that are to be released for free download including source code under the GPL licence. In short, these are exciting times for low-cost eye tracking and gaze interaction. Stay tuned..

Click on image to hear the radio interview (in Danish/Swedish)