FreeGaze: a gaze tracking system for everyday gaze interaction
ETRA '02 Proceedings of the 2002 symposium on Eye tracking research & applications
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Real-time Tracking of Face Features and Gaze Direction Determination
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
Automated location matching in movies
Computer Vision and Image Understanding - Special isssue on video retrieval and summarization
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
An Automated Refereeing and Analysis Tool for the Four-Legged League
RoboCup 2006: Robot Soccer World Cup X
Robust Object Recognition Using Wide Baseline Matching for RoboCup Applications
RoboCup 2007: Robot Soccer World Cup XI
Detection of AIBO and Humanoid Robots Using Cascades of Boosted Classifiers
RoboCup 2007: Robot Soccer World Cup XI
Offline Signature Verification Using Local Interest Points and Descriptors
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
Fingerprint Verification Using Local Interest Points and Descriptors
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
Applying SIFT Descriptors to Stellar Image Matching
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
PSIVT'07 Proceedings of the 2nd Pacific Rim conference on Advances in image and video technology
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Gaze direction determination of opponents and teammates is a very important ability for any soccer player, human or robot. However, this ability is still not developed in any of the RoboCup soccer leagues. We aim at reverting this situation by proposing a gaze direction determination system for robot soccer; the system is designed primarily for the four-legged league, but it could be extended to other leagues. This system is based on a robot-head pose detection system, consisting on two main processing stages: (i) computation of scale-invariant local descriptors of the observed scene, and (ii) matching of these descriptors against descriptors of robot-head prototypes already stored in a model database. After the robot-head pose is detected, the robot gaze direction is determined using a head model of the observed robot, and the current 3D position of the observing robot camera. Experimental results of the proposed approach are presented.