We address the problem of 3D gaze estimation within a 3D environment from remote
sensors, which is highly valuable for applications in human–human and human–robot
interactions. To the contrary of most previous works, which are limited to screen gazing
applications, we propose to leverage the depth data of RGB-D cameras to perform an
accurate head pose tracking, acquire head pose invariance through a 3D rectification
process that renders head pose dependent eye images into a canonical viewpoint, and …