Probabilistic approach to robust wearable gaze tracking

Miika Toivanen, Kristian Lukander, Kai Puolamäki

Research output: Contribution to journalArticleScientificpeer-review


This paper presents a method for computing the gaze point using camera data captured with a wearable gaze tracking device. The method utilizes a physical model of the human eye, advanced Bayesian computer vision algorithms, and Kalman filtering, resulting in high accuracy and low noise. Our C++ implementation can process camera streams with 30 frames per second in realtime. The performance of the system is validated in an exhaustive experimental setup with 19 participants, using a self-made device. Due to the used eye model and binocular cameras, the system is accurate for all distances and invariant to device movement. We also test our system against a best-in-class commercial device which is outperformed for spatial accuracy and precision. The software and hardware instructions as well as the experimental data are published as open source.
Original languageEnglish
Pages (from-to)1-26
Issue number4
Publication statusPublished - 2017
MoE publication typeA1 Journal article-refereed


  • Wearable gaze tracking
  • Human eye modeling
  • Bayesian modeling
  • Kalman filtering


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