结合雷达目标检测的远距离3D注视点估计

Long Distance 3D Gaze Estimation Combined with Radar Target Detection

基于2D映射与双目视线相交方法计算得到的3D注视点在角度估计方面已有较高的精度,但在注视距离估计方面还存在较大误差.为此,提出一种借助毫米波雷达检测场景目标的3D注视点辅助估计的方法.首先利用一个可移动标定物的移动形成一个虚拟标定平面,用于双眼的2D平面注视点标定;然后通过2D映射的方式计算出左右眼在标定平面上的2D注视点,结合眼球位置可计算出3D注视方向;最后在雷达检测的目标点中筛选出与注视方向角度误差最小的点作为候选点,取该点的距离值产生一个虚拟平面,截取左右视线,取2个截取点的中点作为3D注视点估计结果.设计了融合毫米波雷达、摄像机和可移动标定物的实验装置,在4.0~10.2 m的距离范围内进行3D注视点测试,实验结果表明,该方法的平均角度误差为0.9°,平均欧几里得度量误差为130 mm,结果优于双眼数据几何映射法和深度摄像机辅助估计法.

The 3D gaze estimation method based on 2D mapping and two lines of sight intersection has high accuracy in angle estimation.However,there are still large errors in the estimation of gaze distance.Thus,a 3D gaze estimation method based on an auxiliary millimeter wave radar target detection is proposed.First,it uses a movable calibration object to form a virtual calibration plane to calibrate the 2D planar fixation point.Next,the 2D fixation points of the right and left eyes on the calibration plane are calculated by the two-dimensional mapping function,and the 3D gaze direction is calculated combining the position of the eyes.Finally,the candidate point which has the smallest error from the gaze angle is selected from the target points detected by radar.A virtual plane is constructed at the distance of this point,by which the left and right lines of sight are intercept,the midpoint of the two intercept points is the estimation result of 3D fixation point.An experimental device is designed to fuse millimeter wave radar,camera and mobile calibration target.The 3D gaze point is tested in the range of 4.0~10.2 m.Experiments shows that with this method,the average angle error is 0.9°,the average Euclidean distance error is 130 mm.The result is better than binocular data geometric mapping method and depth camera aided estimation method.