Abstract
Human-robot interaction (HRI) is a required method of information interaction in the age of intelligence. The new human-robot collaboration work mode is based on this information interaction method. Most of the existing HRI strategies have some limitations: Firstly, limb-based HRI relies heavily on the user’s physical movements, making interaction impossible when physical activity is limited. Secondly, voice-based HRI is vulnerable to noise in the interaction environment. Lastly, while gaze-based HRI reduces the reliance on physical movements and the impact of noise in the interaction environment, external wearables result in a less convenient and natural interaction process and increase costs. This paper proposed a novel gaze-point-driven interaction framework using only RGB cameras to provide a more convenient and less restricted way of interaction. At first, gaze points are estimated from images captured by cameras. Then, targets can be determined by matching these points and positions of objects. At last, objects gazed at by an interactor can be grabbed by the robot. Experiments under conditions of different lighting, distances, and different users on the Baxter robot show the robustness of this framework.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Acien, A., Morales, A., Vera-Rodriguez, R., Fierrez, J.: Smartphone sensors for modeling human-computer interaction: general outlook and research datasets for user authentication. In: 2020 IEEE 44th Annual Computers, Software, and Applications Conference (COMPSAC), pp. 1273–1278. IEEE Computer Society, Los Alamitos (2020)
Bochkovskiy, A., Wang, C.Y., Liao, H.Y.M.: Yolov4: optimal speed and accuracy of object detection. arXiv preprint arXiv:2004.10934 (2020)
Cheng, Y., Zhang, X., Lu, F., Sato, Y.: Gaze estimation by exploring two-eye asymmetry. IEEE Trans. Image Process. 29, 5259–5272 (2020)
Chong, E., Wang, Y., Ruiz, N., Rehg, J.M.: Detecting attended visual targets in video. In: 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 5395–5405. IEEE Computer Society, Los Alamitos (2020)
Chong, E., Ruiz, N., Wang, Y., Zhang, Y., Rozga, A., Rehg, J.M.: Connecting Gaze, scene, and attention: generalized attention estimation via joint modeling of gaze and scene saliency. In: Ferrari, V., Hebert, M., Sminchisescu, C., Weiss, Y. (eds.) ECCV 2018. LNCS, vol. 11209, pp. 397–412. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-01228-1_24
Dias, P.A., Malafronte, D., Medeiros, H., Odone, F.: Gaze estimation for assisted living environments. In: 2020 IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 279–288. IEEE, Snowmass Village, Colorado (2020)
Drakopoulos, P., Koulieris, G.A., Mania, K.: Front camera eye tracking for mobile VR. In: 2020 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), pp. 642–643. Atlanta (2020)
Dziemian, S., Abbott, W.W., Faisal, A.A.: Gaze-based teleprosthetic enables intuitive continuous control of complex robot arm use: writing & drawing. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1277–1282. IEEE, University Town, Singapore (2016)
Gêgo, D., Carreto, C., Figueiredo, L.: Teleoperation of a mobile robot based on eye-gaze tracking. In: 2017 12th Iberian Conference on Information Systems and Technologies (CISTI), pp. 1–6. IEEE, Lisbon, Portugal (2017)
Hosp, B., Eivazi, S., Maurer, M., Fuhl, W., Geisler, D., Kasneci, E.: Remoteeye: an open-source high-speed remote eye tracker:implementation insights of a pupil- and glint-detection algorithm for high-speed remote eye tracking. Behav. Res. Methods 52(3), 1387–1401 (2020)
Kuo, T.L., Fan, C.P.: Design and implementation of deep learning based pupil tracking technology for application of visible-light wearable eye tracker. In: 2020 IEEE International Conference on Consumer Electronics (ICCE), pp. 1–2. IEEE, Las Vegas (2020)
Lee, K.F., Chen, Y.L., Yu, C.W., Chin, K.Y., Wu, C.H.: Gaze tracking and point estimation using low-cost head-mounted devices. Sensors 20(7) (2020)
Li, X.: Human-robot interaction based on gesture and movement recognition. Sig. Process. Image Commun. 81, 115686 (2020)
Lin, T.-Y., et al.: Microsoft COCO: common objects in context. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8693, pp. 740–755. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-10602-1_48
Liu, J., Chang, W., Li, J., Wang, J.: Design and implementation of human-computer interaction intelligent system based on speech control. Comput.-Aid. Des. Appl. 17, 22–34 (2020)
Liu, M., Fu Li, Y., Liu, H.: 3D gaze estimation for head-mounted devices based on visual saliency. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10611–10616. IEEE, Las Vegas (2020)
Park, S., Spurr, A., Hilliges, O.: Deep pictorial gaze estimation. In: Ferrari, V., Hebert, M., Sminchisescu, C., Weiss, Y. (eds.) ECCV 2018. LNCS, vol. 11217, pp. 741–757. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-01261-8_44
Penkov, S., Bordallo, A., Ramamoorthy, S.: Physical symbol grounding and instance learning through demonstration and eye tracking. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5921–5928. IEEE, Marina Bay Sands (2017)
Radhakrishnan, P.: Head-detection-using-yolo. https://github.com/pranoyr/head-detection-using-yolo. Accessed 4 Oct 2020
Saran, A., Majumdar, S., Short, E.S., Thomaz, A., Niekum, S.: Human gaze following for human-robot interaction. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8615–8621. IEEE, Madrid (2018)
Tostado, P.M., Abbott, W.W., Faisal, A.A.: 3D gaze cursor: continuous calibration and end-point grasp control of robotic actuators. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3295–3300. IEEE, Stockholm (2016)
Tsai, T.H., Huang, C.C., Zhang, K.L.: Design of hand gesture recognition system for human-computer interaction. Multimedia Tools Appl. 79(9), 5989–6007 (2020)
Wang, M.Y., Kogkas, A.A., Darzi, A., Mylonas, G.P.: Free-view, 3D gaze-guided, assistive robotic system for activities of daily living. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2355–2361. IEEE, Madrid (2018)
Weber, D., Santini, T., Zell, A., Kasneci, E.: Distilling location proposals of unknown objects through gaze information for human-robot interaction. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11086–11093. IEEE, Las Vegas (2020)
Acknowledgment
This work was supported in part by the Key Program of NSFC (Grant No. U1908214), Special Project of Central Government Guiding Local Science and Technology Development (Grant No. 2021JH6/10500140), Program for the Liaoning Distinguished Professor, Program for Innovative Research Team in University of Liaoning Province, Dalian and Dalian University, the Scientific Research fund of Liaoning Provincial Education Department (No. L2019606), Dalian University Scientific Research Platform project, and in part by the Science and Technology Innovation Fund of Dalian (Grant No. 2020JJ25CY001).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
About this paper
Cite this paper
Li, W. et al. (2021). A Novel Gaze-Point-Driven HRI Framework for Single-Person. In: Gao, H., Wang, X. (eds) Collaborative Computing: Networking, Applications and Worksharing. CollaborateCom 2021. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 406. Springer, Cham. https://doi.org/10.1007/978-3-030-92635-9_38
Download citation
DOI: https://doi.org/10.1007/978-3-030-92635-9_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-92634-2
Online ISBN: 978-3-030-92635-9
eBook Packages: Computer ScienceComputer Science (R0)