Active gaze tracking for human-robot interaction

Abstract

In our effort to make human-robot interfaces more user-friendly, we built an active gaze tracking system that can measure a person's gaze direction in real-time. Gaze normally tells which object in his/her surrounding a person is interested in. Therefore, it can be used as a medium for human-robot interaction like instructing a robot arm to pick a certain object a user is looking at. We discuss how we developed and put together algorithms for zoom camera calibration, low-level control of active head, face and gaze tracking to create an active gaze tracking system.