An Eye-gaze Tracking System for Teleoperation of a Mobile Robot
An Eye-gaze Tracking System for Teleoperation of a Mobile Robot
复制标题
用于移动机器人远程操作的视线跟踪系统
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Luis Figueiredo
中科院分区：
文献类型：
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作者：
Carlos Carreto;Daniel Gêgo;Luis Figueiredo
大多数远程机器人应用依赖于人机接口，该接口要求操作员通过视觉反馈持续监控机器人的状态，同时使用手动输入设备发送命令来控制机器人的导航。虽然这种设置存在于远程机器人应用的许多示例中，但它可能不适合于不可能或不希望具有手动输入设备的情况，或者当操作员具有不允许使用该类型的输入设备的运动障碍时。由于操作员已经在监控任务中使用了他/她的眼睛，因此可以使用基于他们凝视输入的接口来遥控机器人。本文提出了一种遥操作机器人平台，它使用基于眼神跟踪的用户界面，使用户能够仅使用他/她的眼睛作为系统的输入来控制遥控移动机器人的导航。此外，还详细介绍了眼睛注视跟踪系统的运行情况，以及对所开发系统进行的面向任务的评估结果。
Most telerobotic applications rely on a Human-Robot Interface that requires the operator to continuously monitor the state of the robot through visual feedback while uses manual input devices to send commands to control the navigation of the robot. Although this setup is present in many examples of telerobotic applications, it may not be suitable in situations when it is not possible or desirable to have manual input devices, or when the operator has a motor disability that does not allow the use of that type of input devices. Since the operator already uses his/her eyes in the monitoring task, an interface based on the inputs from their gaze could be used to teleoperate the robot. This paper presents a telerobotic platform that uses a user interface based on eye-gaze tracking that enables a user to control the navigation of a teleoperated mobile robot using only his/her eyes as inputs to the system. Details of the operation of the eye-gaze tracking system and the results of a task-oriented evaluation of the developed system are also included.