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Development of Control Assistant System for Robotic Wheelchair


English / Japanese


Abstract:

We are developing a control assistant system for a robotic wheelchair. This system detects the head pose and gaze direction of the user and recognizes a self-position and surrounding environment using sensors and a map. Based on the detection of both the gaze direction and the position within the map, the robotic wheelchair can estimate the user's fixation from the position where the user is paying attention. We adopt an attention representation based on histogram. The frequency of fixation is represented by an "attention histogram". Experimental results indicate the validity of the control assistance using the estimation of user's attention.

Keywords:
Gaze measurement, Localization, Attention estimation, Human-robot interface



Y. Adachi :
Robotic Wheelchair System Based on User's Facial Information and Environmental Measurements (Japanese),
Doctoral Dissertation, Nara Institute of Science and Technology, 2005.

Y. Adachi, K. Goto, Y. Matsumoto and T. Ogasawara :
Development of Control Assistant System for Robotic Wheelchair
- Estimation of User's Behavior based on Measurements of Gaze and Environment -,
Proceedings of 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2003), FA1-III-1, 2003.

Y. Adachi, K. Goto, A. Khiat, Y. Matsumoto and T. Ogasawara :
Estimation of User's Attention based on Gaze and Environment Measurements for Robotic Wheelchair ,
Proceedings of 12th IEEE Workshop Robot and Human Interactive Communication (RO-MAN 2003), 2A7, 2003.

Y. Adachi, H.Tsunenari, Y. Matsumoto and T. Ogasawara :
Guide Robot's Navigation Based on Attention Estimation Using Gaze Information ,
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.540-545, 2004.