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Human-like object tracking and gaze estimation with PKD android.

Indika B Wijayasinghe1, Haylie L Miller2, Sumit K Das1

  • 1University of Louisville, Louisville, KY 40292, USA.

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Summary
This summary is machine-generated.

This study enhances robot communication by implementing object and gaze tracking on the Philip K. Dick (PKD) android. This allows robots to better understand human cues and improve human-robot interactions.

Keywords:
Gaze estimationHumanoid robotObject tracking

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Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Artificial Intelligence

Background:

  • Increasing use of robots in human-robot interaction necessitates robots understanding human cues.
  • Effective robot communication relies on human-like interaction capabilities.

Purpose of the Study:

  • Implement object tracking with human-like head postures on the Philip K. Dick (PKD) android.
  • Develop a gaze tracking algorithm to enhance robot understanding of human physical cues and intentions.
  • Enable the PKD android as a human gaze emulator for future research.

Main Methods:

  • Utilized a Kinect system and an eye camera for visual feedback on the PKD android.
  • Employed a mobile eye tracking system (ETG) and a motion capture system (Cortex) for head orientation tracking.
  • Integrated a virtual reality system (CAREN) for displaying tracked objects and a gaze tracking algorithm to process data.

Main Results:

  • Successfully implemented object tracking with human-like head postures on the PKD android.
  • Developed a gaze tracking algorithm converting eye and head movement data into gaze information.
  • Demonstrated the potential for robots to predict user intentions by analyzing human physical cues.

Conclusions:

  • The implemented systems enhance the PKD android's capability for human-robot communication.
  • Object and gaze tracking contribute to more intuitive and effective human-robot interactions.
  • The developed gaze emulation can be used for future studies on robot perception of human cues.