Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots
Abstract
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.
Cite
@article{arxiv.2406.06300,
title = {Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots},
author = {Tim Schreiter and Andrey Rudenko and Martin Magnusson and Achim J. Lilienthal},
journal= {arXiv preprint arXiv:2406.06300},
year = {2024}
}
Comments
This is the final version of the accepted version of the manuscript that will be published in the 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). Copyright 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses