Name
Abstract | ||
|---|---|---|
In this letter, we address the problem of providing human-assisted quadrotor navigation using a set of eye tracking glasses. The advent of these devices (i.e., eye tracking glasses, virtual reality tools, etc.) provides the opportunity to create new, non-invasive forms of interaction between humans and robots. We show how a set of glasses equipped with gaze tracker, a camera, and an inertial measurement unit (IMU) can be used to estimate the relative position of the human with respect to a quadrotor, and decouple the gaze direction from the head orientation, which allows the human to spatially task (i.e., send new 3-D navigation waypoints to) the robot in an uninstrumented environment. We decouple the gaze direction from head motion by tracking the human's head orientation using a combination of camera and IMU data. In order to detect the flying robot, we train and use a deep neural network. We experimentally evaluate the proposed approach, and show that our pipeline has the potential to enable gaze-driven autonomy for spatial tasking. The proposed approach can be employed in multiple scenarios including inspection and first response, as well as by people with disabilities that affect their mobility. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2895419 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Field | DocType | Volume |
Computer vision,Virtual reality,Task analysis,Gaze,Control engineering,Eye tracking,Artificial intelligence,Drone,Inertial measurement unit,Engineering,Robot,Artificial neural network | Journal | 4 |
Issue | ISSN | Citations |
2 | 2377-3766 | 3 |
PageRank | References | Authors |
0.44 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Liangzhe Yuan | 1 | 19 | 1.96 |
| Christopher Reardon | 2 | 73 | 9.46 |
| Garrett A. Warnell | 3 | 78 | 16.40 |
| Giuseppe Loianno | 4 | 144 | 13.94 |