aEyes is a robotic face tracker with a set of six eyes tracking faces as they traverse the scene.
** Work in progress **
The simulation (using PySide6 + pyqtgraph GUI) generates face positions moving through 3-space with some faces disappearing completely, disappearing and reappearing, or staying static. These faces are then sent through the face tracking, assignment, and eye manager pipeline to generate yaw and pitch of the indivdual eyes.
The pipeline is fairly straight forward and the major parts are: AI Camera Interface → Face Tracker → Eye Manager → Message Publisher → RPi/LCD/Motors
The system is split into two subsystems: a Controller and 6 Eye units, all connected over a wired Ethernet network.
Controller
- Raspberry Pi 5
- OAK-D depth camera (USB)
- Mean Well LRS-100-24 AC/DC PSU (24V)
- DC-DC converter 24V → 12V
- 8-port Ethernet switch
Eye units (×6)
- Raspberry Pi 4B
- Waveshare 4" DSI LCD
- Waveshare RS485/CAN Hat
- DC-DC converter hat 24V → 5V
- 1× MG4010E-i10v3 CAN servo motor (yaw)
- 1× MG4005-v2 CAN servo motor (pitch)
There are several README's through out the repository for indivdual systems:
Project concept, aesthetic, engineering design, and original code base were conceived and executed by the author.
Portions of this codebase were reviewed, revised, and written with the assistance of Claude Code (Anthropic).