抄録
The paper describes a hands-free method for indicating an object in a scene by user's gaze for home service robot. A wearable gaze tracking device (GTD) detects user's gaze. The user can indicate a target object by gazing to the target object and a robot starts to search for the object autonomously. The method uses the gaze-interaction to specify the object and integrates the RGBD sensing to segment unknown objects from complex environment based on the analysis of depth and color information for segmentation of object from background and other objects. The experimental results confirm its applicability on a wide variety of objects even in highly cluttered scenes.
