Conventional feature-based and model-based gaze estimation methods have proven to perform well in settings with controlled illumination and specialized cameras. In unconstrained real-world settings, however, such methods are surpassed by recent appearance-based methods due to difficulties in modeling factors such as illumination changes and other visual artifacts. We present a novel learning-based method for eye region landmark localization that enables conventional methods to be competitive to latest appearance-based methods. Despite having been trained exclusively on synthetic data, our method exceeds the state of the art for iris localization and eye shape registration on real-world imagery. We then use the detected landmarks as input to iterative model-fitting and lightweight learning-based gaze estimation methods. Our approach outperforms existing model-fitting and appearance-based methods in the context of person-independent and personalized gaze estimation.
NVIDIA（英伟达）；Rochester Institute of Technology（罗切斯特理工学院）；Lunit Inc.（Lunit公司）
A major challenge for physically unconstrained gaze estimation is acquiring training data with 3D gaze annotations for in-the-wild and outdoor scenarios. In contrast, videos of human interactions in unconstrained environments are abundantly available and can be much more easily annotated with frame-level activity labels. In this work, we tackle the previously unexplored problem of weakly-supervised gaze estimation from videos of human interactions. We leverage the insight that strong gaze-related geometric constraints exist when people perform the activity of "looking at each other" (LAEO). To…
Toyota Research Institute（丰田研究院）；Massachusetts Institute of Technology（麻省理工学院）
Understanding where people are looking is an informative social cue. In this work, we present Gaze360, a large-scale gaze-tracking dataset and method for robust 3D gaze estimation in unconstrained images. Our dataset consists of 238 subjects in indoor and outdoor environments with labelled 3D gaze across a wide range of head poses and distances. It is the largest publicly available dataset of its kind by both subject and variety, made possible by a simple and efficient collection method. Our proposed 3D gaze model extends existing models to include temporal information and to directly output a…
We study gaze estimation on tablets, our key design goal is uncalibrated gaze estimation using the front-facing camera during natural use of tablets, where the posture and method of holding the tablet is not constrained. We collected the first large unconstrained gaze dataset of tablet users, labeled Rice TabletGaze dataset. The dataset consists of 51 subjects, each with 4 different postures and 35 gaze locations. Subjects vary in race, gender and in their need for prescription glasses, all of which might impact gaze estimation accuracy. Driven by our observations on the collected data, we pre…
Is Geometry Enough? An Evaluation of Landmark-Based Gaze Estimation
Department of Industrial Engineering and Mathematical Sciences, Università Politecnica delle Marche（工业工程与数学科学系，帕尔米塞大学）；Department of Science and Information Technology, Università Pegaso（科学与信息科技系，佩加索大学）
INRIA Sophia Antipolis - Méditerranée（法国国家信息与自动化研究所索菲亚·安提波利斯-地中海研究中心）；Birla Institute of Technology and Science, Pilani（皮拉尼·博拉理工学院）；Université Côte d’Azur（蔚蓝海岸大学）
3D gaze estimation is about predicting the line of sight of a person in 3D space. Person-independent models for the same lack precision due to anatomical differences of subjects, whereas person-specific calibrated techniques add strict constraints on scalability. To overcome these issues, we propose a novel technique, Facial Landmark Heatmap Activated Multimodal Gaze Estimation (FLAME), as a way of combining eye anatomical information using eye landmark heatmaps to obtain precise gaze estimation without any person-specific calibration. Our evaluation demonstrates a competitive performance of a…
Model-based eye tracking has been a dominant approach for eye gaze tracking because of its ability to generalize to different subjects, without the need of any training data and eye gaze annotations. Model-based eye tracking, however, is susceptible to eye feature detection errors, in particular for eye tracking in the wild. To address this issue, we propose a Bayesian framework for model-based eye tracking. The proposed system consists of a cascade-Bayesian Convolutional Neural Network (c-BCNN) to capture the probabilistic relationships between eye appearance and its landmarks, and a geometri…
Anatomical landmarks are a crucial prerequisite for many medical imaging tasks. Usually, the set of landmarks for a given task is predefined by experts. The landmark locations for a given image are then annotated manually or via machine learning methods trained on manual annotations. In this paper, in contrast, we present a method to automatically discover and localize anatomical landmarks in medical images. Specifically, we consider landmarks that attract the visual attention of humans, which we term visually salient landmarks. We illustrate the method for fetal neurosonographic images. First…
This paper investigates how to rapidly and accurately localize facial landmarks in unconstrained, cluttered environments rather than in the well segmented face images. We present a novel Backbone-Branches Fully-Convolutional Neural Network (BB-FCN), which produces facial landmark response maps directly from raw images without relying on pre-process or sliding window approaches. BB-FCN contains one backbone and a number of network branches with each corresponding to one landmark type, and it operates in a progressive manner. Specifically, the backbone roughly detects the locations of facial lan…
We explore techniques for eye gaze estimation using machine learning. Eye gaze estimation is a common problem for various behavior analysis and human-computer interfaces. The purpose of this work is to discuss various model types for eye gaze estimation and present the results from predicting gaze direction using eye landmarks in unconstrained settings. In unconstrained real-world settings, feature-based and model-based methods are outperformed by recent appearance-based methods due to factors like illumination changes and other visual artifacts. We discuss a learning-based method for eye regi…
Sun Yat-sen University（中山大学）；The University of Hong Kong（香港大学）
Facial landmark localization plays a critical role in face recognition and analysis. In this paper, we propose a novel cascaded backbone-branches fully convolutional neural network~(BB-FCN) for rapidly and accurately localizing facial landmarks in unconstrained and cluttered settings. Our proposed BB-FCN generates facial landmark response maps directly from raw images without any preprocessing. BB-FCN follows a coarse-to-fine cascaded pipeline, which consists of a backbone network for roughly detecting the locations of all facial landmarks and one branch network for each type of detected landm…
Human gaze is a crucial cue used in various applications such as human-robot interaction and virtual reality. Recently, convolution neural network (CNN) approaches have made notable progress in predicting gaze direction. However, estimating gaze in-the-wild is still a challenging problem due to the uniqueness of eye appearance, lightning conditions, and the diversity of head pose and gaze directions. In this paper, we propose a robust CNN-based model for predicting gaze in unconstrained settings. We propose to regress each gaze angle separately to improve the per-angel prediction accuracy, whi…
China University of Mining and Technology（中国矿业大学）；Engineering Research Center of Mine Digitization, Ministry of Education of the People’s Republic of China（中华人民共和国教育部矿山数字化工程研究中心）；Monash University（莫纳什大学）；Nanyang Technological University（南洋理工大学）；Deakin University（迪肯大学）；Shanghai Jiao Tong University（上海交通大学）；East China Normal University（华东师范大学）
Facial action unit (AU) detection in the wild is a challenging problem, due to the unconstrained variability in facial appearances and the lack of accurate annotations. Most existing methods depend on either impractical labor-intensive labeling or inaccurate pseudo labels. In this paper, we propose an end-to-end unconstrained facial AU detection framework based on domain adaptation, which transfers accurate AU labels from a constrained source domain to an unconstrained target domain by exploiting labels of AU-related facial landmarks. Specifically, we map a source image with label and a target…
TEyeD: Over 20 million real-world eye images with Pupil, Eyelid, and Iris 2D and 3D Segmentations, 2D and 3D Landmarks, 3D Eyeball, Gaze Vector, and Eye Movement Types
Monash University（莫纳什大学）；IIT Ropar（印度理工学院罗巴尔分校）；University of Melbourne（墨尔本大学）
Over the past few years, there has been an increasing interest to interpret gaze direction in an unconstrained environment with limited supervision. Owing to data curation and annotation issues, replicating gaze estimation method to other platforms, such as unconstrained outdoor or AR/VR, might lead to significant drop in performance due to insufficient availability of accurately annotated data for model training. In this paper, we explore an interesting yet challenging problem of gaze estimation method with a limited amount of labelled data. The proposed method distills knowledge from the lab…
Columbia University（哥伦比亚大学）；XPENG Motors（小鹏汽车）；Institute of North Electronic Equipment（北方电子设备研究所）
Unconstrained remote gaze estimation remains challenging mostly due to its vulnerability to the large variability in head-pose. Prior solutions struggle to maintain reliable accuracy in unconstrained remote gaze tracking. Among them, appearance-based solutions demonstrate tremendous potential in improving gaze accuracy. However, existing works still suffer from head movement and are not robust enough to handle real-world scenarios. Especially most of them study gaze estimation under controlled scenarios where the collected datasets often cover limited ranges of both head-pose and gaze which in…
Monash University（莫纳什大学）；Indian Institute of Technology Ropar（印度理工学院鲁尔基分校）；University of Melbourne（墨尔本大学）；Rensselaer Polytechnic Institute（伦斯勒理工学院）
Eye gaze analysis is an important research problem in the field of Computer Vision and Human-Computer Interaction. Even with notable progress in the last 10 years, automatic gaze analysis still remains challenging due to the uniqueness of eye appearance, eye-head interplay, occlusion, image quality, and illumination conditions. There are several open questions, including what are the important cues to interpret gaze direction in an unconstrained environment without prior knowledge and how to encode them in real-time. We review the progress across a range of gaze analysis tasks and applications…
The Chinese University of Hong Kong（香港中文大学）；SenseTime Group Limited（商汤集团有限公司）
Fashion landmarks are functional key points defined on clothes, such as corners of neckline, hemline, and cuff. They have been recently introduced as an effective visual representation for fashion image understanding. However, detecting fashion landmarks are challenging due to background clutters, human poses, and scales. To remove the above variations, previous works usually assumed bounding boxes of clothes are provided in training and test as additional annotations, which are expensive to obtain and inapplicable in practice. This work addresses unconstrained fashion landmark detection, wher…
Heatmap regression has been used for landmark localization for quite a while now. Most of the methods use a very deep stack of bottleneck modules for heatmap classification stage, followed by heatmap regression to extract the keypoints. In this paper, we present a single dendritic CNN, termed as Pose Conditioned Dendritic Convolution Neural Network (PCD-CNN), where a classification network is followed by a second and modular classification network, trained in an end to end fashion to obtain accurate landmark points. Following a Bayesian formulation, we disentangle the 3D pose of a face image e…
National University of Ireland Galway（爱尔兰国立大学戈尔韦分校）；Xperi Corporation（Xperi公司）
Accurate and efficient eye gaze estimation is important for emerging consumer electronic systems such as driver monitoring systems and novel user interfaces. Such systems are required to operate reliably in difficult, unconstrained environments with low power consumption and at minimal cost. In this paper a new hardware friendly, convolutional neural network model with minimal computational requirements is introduced and assessed for efficient appearance-based gaze estimation. The model is tested and compared against existing appearance based CNN approaches, achieving better eye gaze accuracy …
An efficient, fully automatic method for 3D face shape and pose estimation in unconstrained 2D imagery is presented. The proposed method jointly estimates a dense set of 3D landmarks and facial geometry using a single pass of a modified version of the popular "U-Net" neural network architecture. Additionally, we propose a method for directly estimating a set of 3D Morphable Model (3DMM) parameters, using the estimated 3D landmarks and geometry as constraints in a simple linear system. Qualitative modeling results are presented, as well as quantitative evaluation of predicted 3D face landmarks …
Unconstrained remote gaze tracking using off-the-shelf cameras is a challenging problem. Recently, promising algorithms for appearance-based gaze estimation using convolutional neural networks (CNN) have been proposed. Improving their robustness to various confounding factors including variable head pose, subject identity, illumination and image quality remain open problems. In this work, we study the effect of variable head pose on machine learning regressors trained to estimate gaze direction. We propose a novel branched CNN architecture that improves the robustness of gaze classifiers to va…
Estimation eye gaze direction is useful in various human-computer interaction tasks. Knowledge of gaze direction can give valuable information regarding users point of attention. Certain patterns of eye movements known as eye accessing cues are reported to be related to the cognitive processes in the human brain. We propose a real-time framework for the classification of eye gaze direction and estimation of eye accessing cues. In the first stage, the algorithm detects faces using a modified version of the Viola-Jones algorithm. A rough eye region is obtained using geometric relations and facia…
Facial alignment involves finding a set of landmark points on an image with a known semantic meaning. However, this semantic meaning of landmark points is often lost in 2D approaches where landmarks are either moved to visible boundaries or ignored as the pose of the face changes. In order to extract consistent alignment points across large poses, the 3D structure of the face must be considered in the alignment step. However, extracting a 3D structure from a single 2D image usually requires alignment in the first place. We present our novel approach to simultaneously extract the 3D shape of th…
Universitat de Barcelona（巴塞罗那大学）；Computer Vision Center（计算机视觉中心）；University of Calgary（卡尔加里大学）；University of Larestan（拉雷斯坦大学）
Gaze behavior is an important non-verbal cue in social signal processing and human-computer interaction. In this paper, we tackle the problem of person- and head pose-independent 3D gaze estimation from remote cameras, using a multi-modal recurrent convolutional neural network (CNN). We propose to combine face, eyes region, and face landmarks as individual streams in a CNN to estimate gaze in still images. Then, we exploit the dynamic nature of gaze by feeding the learned features of all the frames in a sequence to a many-to-one recurrent module that predicts the 3D gaze vector of the last fra…
Monash University（莫纳什大学）；Indian Institute of Technology Ropar（印度理工学院罗帕尔分校）；University of Melbourne（墨尔本大学）
Robust gaze estimation is a challenging task, even for deep CNNs, due to the non-availability of large-scale labeled data. Moreover, gaze annotation is a time-consuming process and requires specialized hardware setups. We propose MTGLS: a Multi-Task Gaze estimation framework with Limited Supervision, which leverages abundantly available non-annotated facial image data. MTGLS distills knowledge from off-the-shelf facial image analysis models, and learns strong feature representations of human eyes, guided by three complementary auxiliary signals: (a) the line of sight of the pupil (i.e. pseudo-…
The Hong Kong University of Science and Technology（香港科技大学）
Appearance-based gaze estimation provides relatively unconstrained gaze tracking. However, subject-independent models achieve limited accuracy partly due to individual variations. To improve estimation, we propose a novel gaze decomposition method and a single gaze point calibration method, motivated by our finding that the inter-subject squared bias exceeds the intra-subject variance for a subject-independent estimator. We decompose the gaze angle into a subject-dependent bias term and a subject-independent term between the gaze angle and the bias. The subject-independent term is estimated by…
Humans are remarkably adept at interpreting the gaze direction of other individuals in their surroundings. This skill is at the core of the ability to engage in joint visual attention, which is essential for establishing social interactions. How accurate are humans in determining the gaze direction of others in lifelike scenes, when they can move their heads and eyes freely, and what are the sources of information for the underlying perceptual processes? These questions pose a challenge from both empirical and computational perspectives, due to the complexity of the visual input in real-life s…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；Osaka University（大阪大学）
Learning-based methods are believed to work well for unconstrained gaze estimation, i.e. gaze estimation from a monocular RGB camera without assumptions regarding user, environment, or camera. However, current gaze datasets were collected under laboratory conditions and methods were not evaluated across multiple datasets. Our work makes three contributions towards addressing these limitations. First, we present the MPIIGaze that contains 213,659 full face images and corresponding ground-truth gaze positions collected from 15 users during everyday laptop use over several months. An experience s…
The Hong Kong University of Science and Technology（香港科技大学）
Appearance-based gaze estimation from RGB images provides relatively unconstrained gaze tracking. We have previously proposed a gaze decomposition method that decomposes the gaze angle into the sum of a subject-independent gaze estimate from the image and a subject-dependent bias. This paper extends that work with a more complete characterization of the interplay between the complexity of the calibration dataset and estimation accuracy. We analyze the effect of the number of gaze targets, the number of images used per gaze target and the number of head positions in calibration data using a new…
Eye-tracking technologies have been widely used in applications like psychological studies and human computer interactions (HCI). However, most current eye trackers focus on 2D point of gaze (PoG) estimation and cannot provide accurate gaze depth.Concerning future applications such as HCI with 3D displays, we propose a novel binocular eye tracking device with stereo stimuli to provide highly accurate 3D PoG estimation. In our device, the 3D stereo imaging system can provide users with a friendly and immersive 3D visual experience without wearing any accessories. The eye capturing system can di…
Semi-Supervised Unconstrained Head Pose Estimation in the Wild
School of Data Science, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）数据科学学院）；Chongqing Academy of Science and Technology（重庆科学研究院）；Lenovo Research and Technology（联想研究与技术）；Department of Computer Science and Engineering, Shanghai Jiao Tong University（上海交通大学计算机科学与工程系）
Head-mounted eye trackers promise convenient access to reliable gaze data in unconstrained environments. Due to several limitations, however, often they can only partially deliver on this promise. Among those are the following: (i) the necessity of performing a device setup and calibration prior to every use of the eye tracker, (ii) a lack of robustness of gaze-estimation results against perturbations, such as outdoor lighting conditions and unavoidable slippage of the eye tracker on the head of the subject, and (iii) behavioral distortion resulting from social awkwardness, due to the unnatura…
Semi-Supervised Gaze Estimation via Disentangled Subspace Contrastive Learning
National Key Laboratory of Fundamental Science on Synthetic Vision, Sichuan University, Chengdu, China（合成视觉基础科学国家重点实验室，四川大学，成都，中国）；College of Computer Science, Sichuan University, Chengdu, China（计算机学院，四川大学，成都，中国）
Head pose estimation, which computes the intrinsic Euler angles (yaw, pitch, roll) from the human, is crucial for gaze estimation, face alignment, and 3D reconstruction. Traditional approaches heavily relies on the accuracy of facial landmarks. It limits their performances, especially when the visibility of the face is not in good condition. In this paper, to do the estimation without facial landmarks, we combine the coarse and fine regression output together for a deep network. Utilizing more quantization units for the angles, a fine classifier is trained with the help of other auxiliary coar…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
We present labelled pupils in the wild (LPW), a novel dataset of 66 high-quality, high-speed eye region videos for the development and evaluation of pupil detection algorithms. The videos in our dataset were recorded from 22 participants in everyday locations at about 95 FPS using a state-of-the-art dark-pupil head-mounted eye tracker. They cover people with different ethnicities, a diverse set of everyday indoor and outdoor illumination environments, as well as natural gaze direction distributions. The dataset also includes participants wearing glasses, contact lenses, as well as make-up. We …
EyeTheia: A Lightweight and Accessible Eye-Tracking Toolbox
Univ. Lille, Inserm, CHU Lille, U1172 - LilNCog - Lille Neuroscience & Cognition（里尔大学、法国国家医学研究院、里尔大学医院、U1172 - 里尔神经科学与认知中心）；Univ. Lille, CNRS, Centrale Lille, UMR 9189 CRIStAL（里尔大学、法国国家科学研究中心、里尔中央理工大学、UMR 9189 CRIStAL）；Centre national de ressources et de résilience (CN2R)（资源与韧性国家研究中心）
Tianjin University（天津大学）；Wuhan University（武汉大学）；Tencent AI Lab（腾讯AI实验室）；Temple University（天普大学）
Being accurate, efficient, and compact is essential to a facial landmark detector for practical use. To simultaneously consider the three concerns, this paper investigates a neat model with promising detection accuracy under wild environments e.g., unconstrained pose, expression, lighting, and occlusion conditions) and super real-time speed on a mobile device. More concretely, we customize an end-to-end single stage network associated with acceleration techniques. During the training phase, for each sample, rotation information is estimated for geometrically regularizing landmark localization,…
Incorporating the physical environment is essential for a complete understanding of human behavior in unconstrained every-day tasks. This is especially important in ego-centric tasks where obtaining 3 dimensional information is both limiting and challenging with the current 2D video analysis methods proving insufficient. Here we demonstrate a proof-of-concept system which provides real-time 3D mapping and semantic labeling of the local environment from an ego-centric RGB-D video-stream with 3D gaze point estimation from head mounted eye tracking glasses. We augment existing work in Semantic Si…
Analyzing the gaze accuracy characteristics of an eye tracker is a critical task as its gaze data is frequently affected by non-ideal operating conditions in various consumer eye tracking applications. In this study, gaze error patterns produced by a commercial eye tracking device were studied with the help of machine learning algorithms, such as classifiers and regression models. Gaze data were collected from a group of participants under multiple conditions that commonly affect eye trackers operating on desktop and handheld platforms. These conditions (referred here as error sources) include…
Robust face detection in the wild is one of the ultimate components to support various facial related problems, i.e. unconstrained face recognition, facial periocular recognition, facial landmarking and pose estimation, facial expression recognition, 3D facial model construction, etc. Although the face detection problem has been intensely studied for decades with various commercial applications, it still meets problems in some real-world scenarios due to numerous challenges, e.g. heavy facial occlusions, extremely low resolutions, strong illumination, exceptionally pose variations, image or vi…
Face detection and alignment in unconstrained environment is always deployed on edge devices which have limited memory storage and low computing power. This paper proposes a one-stage method named CenterFace to simultaneously predict facial box and landmark location with real-time speed and high accuracy. The proposed method also belongs to the anchor free category. This is achieved by: (a) learning face existing possibility by the semantic maps, (b) learning bounding box, offsets and five landmarks for each position that potentially contains a face. Specifically, the method can run in real-ti…
FetusMapV2: Enhanced Fetal Pose Estimation in 3D Ultrasound
Shenzhen University（深圳大学）；Shenzhen RayShape Medical Technology Co., Ltd（深圳睿心医疗科技有限公司）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；The Hong Kong University of Science and Technology（香港科技大学）
Taking Language Embedded 3D Gaussian Splatting into the Wild
State Key Laboratory of Virtual Reality Technology and Systems（虚拟现实技术与系统国家重点实验室）；School of Computer Science and Engineering（计算机科学与工程学院）；Beihang University（北航大学）
