Tracking foveated corner clusters using affine structure

The authors describe a novel method of obtaining a fixation point on a moving object for a real-time gaze control system. The method makes use of a real-time implementation of a corner detector and tracker and reconstructs the image position of the desired fixation point from a cluster of corners detected on the object using the affine structure available from two or three views. The method is fast, reliable, viewpoint invariant, and insensitive to occlusion and/or individual corner dropout or reappearance. Results are presented for the method used with a high performance head/eye platform. The results are compared with two naive fixation methods