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Watch Where You're Going! Gaze and Head Orientation as Predictors for Social Robot Navigation.
Blake Holman, Abrar
Anwar, Akash Singh, Mauricio Tec, Justin
Hart, and Peter Stone.
In Proceedings of the International Conference
on Robotics and Automation (ICRA), May 2021.
Mobile robots deployed in human-populated environments must be able to safelyand comfortably navigate in close proximity to people. Head orientation and gazeare both mechanisms which help people to interpret where other people intend to walk, which in turn enables them to coordinate their movement. Head orientation has previously been leveraged to develop classifiers which are able to predict the goal of a person's walking motion. Gaze is believed to generally precede head orientation, with a person quickly moving their eyes to a target and then following it with a turn of their head. This study leverages state-of-the-art virtual reality technology to place participants into a simulated environment in which their gaze and motion can be observed. The results of this study indicate that position, velocity, head orientation, and gaze can all be used as predictive features of the goal of a person's walking motion. The results also indicate that gaze both precedes head orientation and can be used to predict thegoal of a person's walking motion at a higher level of accuracy earlier in theirwalking trajectory. These findings can be leveraged in the design of social navigation systems for mobile robots.
@InProceedings{ICRA21-hart,
author = {
Blake Holman and
Abrar Anwar and
Akash Singh and
Mauricio Tec and
Justin Hart and
Peter Stone},
title = {Watch Where You're Going! Gaze and Head Orientation as Predictors for Social Robot Navigation},
booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
location = {Xi'an, China},
month = {May},
year = {2021},
abstract = {
Mobile robots deployed in human-populated environments must be able to safely
and comfortably navigate in close proximity to people. Head orientation and gaze
are both mechanisms which help people to interpret where other people intend to
walk, which in turn enables them to coordinate their movement. Head orientation
has previously been leveraged to develop classifiers which are able to predict
the goal of a person's walking motion. Gaze is believed to generally precede
head orientation, with a person quickly moving their eyes to a target and then
following it with a turn of their head. This study leverages state-of-the-art
virtual reality technology to place participants into a simulated environment
in which their gaze and motion can be observed. The results of this study
indicate that position, velocity, head orientation, and gaze can all be used as
predictive features of the goal of a person's walking motion. The results also
indicate that gaze both precedes head orientation and can be used to predict the
goal of a person's walking motion at a higher level of accuracy earlier in their
walking trajectory. These findings can be leveraged in the design of social
navigation systems for mobile robots.
},
}
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