ロボットとの共有環境におけるナビゲーション・探索・物体操作時の人間の視線と頭部回転
Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots
人間の動作データセットを用いて、屋内活動中の視線方向と頭部回転の協調関係を分析し、活動ごとの注視分布や意味的領域を明らかにした。
著者: Tim Schreiter, Andrey Rudenko, Martin Magnusson, Achim J. Lilienthal
分類: cs.RO
原文アブストラクト
The human gaze is an important cue to signal intention, attention, distraction, and the regions of interest in the immediate surroundings. Gaze tracking can transform how robots perceive, understand, and react to people, enabling new modes of robot control, interaction, and collaboration. In this paper, we use gaze tracking data from a rich dataset of human motion (TH\"OR-MAGNI) to investigate the coordination between gaze direction and head rotation of humans engaged in various indoor activities involving navigation, interaction with objects, and collaboration with a mobile robot. In particular, we study the spread and central bias of fixations in diverse activities and examine the correlation between gaze direction and head rotation. We introduce various human motion metrics to enhance the understanding of gaze behavior in dynamic interactions. Finally, we apply semantic object labeling to decompose the gaze distribution into activity-relevant regions.
