descriptionWebcam-based 6DOF head tracking without markers
ownerMartin Lambers <>
last changeTue, 19 Feb 2019 09:04:24 +0000 (10:04 +0100)

A library for webcam-based head tracking


This library provides head tracking based on the webcam typically found in laptop computers or on top of desktop monitors.

Head tracking means that you get a position and orientation of the user's head (6DOF tracking).

Under good conditions, you can get new values at the typical webcam frame rate of 30 frames per second.

How do I use this?

How does it work?

We use mainly OpenCV and dlib functionality:

These ideas were borrowed from various sources, including screenReality, eyeLike, gazr, this OpenCV tutorial, and this paper. We ended up using an approach similar to gazr, but faster, independent of ROS, and with better filtering.


2019-02-19 Martin LambersFix formatting master
2018-04-30 Martin LambersUpdate dlib detection for latest version on Debian...
2018-04-30 Martin LambersFix typo in eulerToQuaternion, reported by d85iDE in...
2017-11-05 Martin LambersInitial public release
9 months ago master