Collection of Eye Tracking Data when a Human Operates a Mobile Robot based on Robot's Viewpoint

Abstract

Our laboratory aim to enable robots to avoid obstacles as smoothly as humans, using only image information. It is necessary to define what information to focus on and what information to use. To get a hint for making such definition, we investigated human gaze points on the image obtained from robot's viewpoint. For this purpose, we developed an experimental system incorporated with an eye tracking system, in which a human rides on an automatic electric wheelchair considered as a mobile robot, inside which he gazes at the image obtained by a stereo camera. He controls the velocity and direction of the robot based on the image information. The obtained eye tracking data are shown and what the human gazed at are discussed.