Alle Publikationen
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2016
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(2016) : Robot reading human gaze: Why eye tracking is better than head tracking for human-robot collaboration: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, South Korea: IEEE Robotics & Automation Society, S. 5048-5054
DOI: https://doi.org/10.1109/IROS.2016.7759741 Abstract: Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still adopted in many applications today. In this paper we introduce performance improvements to an eye tracking system we previously developed and use it to explore if this approximation is appropriate. More precisely, we compare the impact of the use of eye- or head-based gaze estimation in a human robot interaction experiment with the iCub robot and naïve subjects. We find that the possibility to exploit the richer information carried by eye gaze has a significant impact on the interaction. As a result, our eye tracking system allows for a more efficient human-robot collaboration than a comparable head tracking approach, according to both quantitative measures and subjective evaluation by the human participants.
Keywords: Angemessen(heit) (von Technik), Cameras, communication cues, EYE GAZE, eye tracking system, eye-based gaze estimation, gaze tracking, Head, head orientation, head tracking, head-based gaze estimation, Human robot interaction, Humanoid Robots, human-robot collaboration, human-robot interaction, iCub robot, ieee xplore, Magnetic heads, performance improvements, pose estimation, quantitative measures, robot human gaze reading, Robot kinematics, robot perception, robot proxy, robot vision, Visualization 2013
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(2013) : It’s not polite to point Generating socially-appropriate deictic behaviors towards people: 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Tokyo, Japan: IEEE, S. 267-274
DOI: https://doi.org/10.1109/HRI.2013.6483598 Abstract: Pointing behaviors are used for referring to objects and people in everyday interactions, but the behaviors used for referring to objects are not necessarily polite or socially appropriate for referring to humans. In this study, we confirm that although people would point precisely to an object to indicate where it is, they were hesitant to do so when pointing to another person. We propose a model for generating socially-appropriate deictic behaviors in a robot. The model is based on balancing two factors: understandability and social appropriateness. In an experiment with a robot in a shopping mall, we found that the robot’s deictic behavior was perceived as more polite, more natural, and better overall when using our model, compared with a model considering understandability alone.
Keywords: Angemessen(heit) (von Technik), Data Collection, Data models, Fingers, human-robot interaction, ieee xplore, Indexes, intelligent robots, pointing behaviors, pointing gesture, Robots, shopping mall, social appropriateness, social robots, social sciences, socially-appropriate deictic robot behavior generation, understandability, Visualization 2012
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(2012) : Vision-based attention control system for socially interactive robots: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication: Paris, France: IEEE, S. 496-502
DOI: https://doi.org/10.1109/ROMAN.2012.6343800 Abstract: A social robot needs to attract the attention of a target human and shift it from his/her current focus to what is sought by the robot. The robot should recognize the current target’s attention level to smoothly perform this attention control. In this paper, we propose a vision-based system to detect the level of attention or willingness of the target person towards the robot and to control his/her attention. The system estimates the attention level from rich visual cues of human’s face and head. Then, by timing target’s attention to determine the appropriate attention level, it generates aware signals and makes eye contact with the target. Finally, the robot shifts the target’s attention to an intended direction. The experimental results reveal that the proposed system is effective in controlling the target’s attention.
2005
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Miyake, Akira; Shah, Priti (Hg.) (2005): The Cambridge Handbook of Visuospatial Thinking. Cambridge: Cambridge University Press
Abstract: Functional Significance of Visuospatial Representations / Barbara Tversky -- Visuospatial images / Daniel Reisberg and Friderike Heuer -- Disorders of Visuo spatial working memory / Robert Logie and Sergio Della Sala -- Individual Differences in Spatial Abilities / Mary Hegarty and David Waller -- Sex Differences in Visuospatial Abilities: More Than Meets the Eye / Diane F. Halpern and Marcia L. Collear -- Development of Spatial Competence / Nora S. Newcombe and Amy E. Learmonth -- Navigation / Daniel R. Montello -- Mapping the Understanding of Understanding Maps / Holly A. Taylor -- Spatial Situation Models / Mike Rinck -- Design Applications of Visual Spatial Thinking: The Importance of Frame of Reference / Christopher D. Wickens, Michele Vincow, Michele -- The presentation and comprehension of graphically-presented data / Priti Shah, Eric G. Freedman, Ioanna Vekiri -- Multimedia Learning: Guiding Visuospatial Thinking with Instructional Animation / Richard E. Mayer The ability to navigate across town, comprehend an animated display of the functioning of the human heart, view complex multivariate data on a company's website, or to read an architectural blueprint and form a three-dimensional mental picture of a house are all tasks involving visuospatial thinking. The field of visuospatial thinking is a relatively diverse interdisciplinary research enterprise. An understanding of visuospatial thinking, and in particular, how people represent and process visual and spatial information, is relevant not only to cognitive psychology but also education, geography, architecture, medicine, design computer science/artificial intelligence, semiotics and animal cognition. The goal of this book, first published in 2005, is to present a broad overview of research on visuospatial thinking that can be used by researchers as well as students interested in this topic in both basic research and applied/naturalistic contexts
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