In this section
@inproceedings{Marcos:2016:10.1109/ICRA.2016.7487502,
author = {Marcos, Tostado P and Abbott, WW and Faisal, AA},
doi = {10.1109/ICRA.2016.7487502},
pages = {3295--3300},
publisher = {IEEE},
title = {3D gaze cursor: continuous calibration and end-point grasp control of robotic actuators},
url = {http://dx.doi.org/10.1109/ICRA.2016.7487502},
year = {2016}
}
TY - CPAPER
AB - Eye movements are closely related to motor ac-tions, and hence can be used to infer motor intentions. Ad-ditionally, eye movements are in some cases the only meansof communication and interaction with the environment forparalysed and impaired patients with severe motor deficiencies.Despite this, eye-tracking technology still has a very limiteduse as a human-robot control interface and its applicability ishighly restricted to 2D simple tasks that operate on screen basedinterfaces and do not suffice for natural physical interactionwith the environment. We propose that decoding the gazeposition in 3D space rather than in 2D results into a muchricher "spatial cursor" signal that allows users to performeveryday tasks such as grasping and moving objects via gaze-based robotic teleoperation. Eye tracking in 3D calibration isusually slow – we demonstrate here that by using a full 3Dtrajectory for system calibration generated by a robotic armrather than a simple grid of discrete points, gaze calibration inthe 3 dimensions can be successfully achieved in short time andwith high accuracy. We perform the non-linear regression fromeye-image to 3D-end point using Gaussian Process regressors,which allows us to handle uncertainty in end-point estimatesgracefully. Our telerobotic system uses a multi-joint robot armwith a gripper and is integrated with our in-house "GT3D"binocular eye tracker. This prototype system has been evaluatedand assessed in a test environment with 7 users, yielding gaze-estimation errors of less than 1cm in the horizontal, vertical anddepth dimensions, and less than 2cm in the overall 3D Euclideanspace. Users reported intuitive, low-cognitive load, control of thesystem right from their first trial and were straightaway ableto simply look at an object and command through a
AU - Marcos,Tostado P
AU - Abbott,WW
AU - Faisal,AA
DO - 10.1109/ICRA.2016.7487502
EP - 3300
PB - IEEE
PY - 2016///
SP - 3295
TI - 3D gaze cursor: continuous calibration and end-point grasp control of robotic actuators
UR - http://dx.doi.org/10.1109/ICRA.2016.7487502
UR - http://hdl.handle.net/10044/1/33957
ER -