research-article

Low-latency combined eye and head tracking system for teleoperating a robotic head in real-time

Authors:

Stefan Kohlbecher,

Klaus Bartl,

Stanislavs Bardins,

Erich SchneiderAuthors Info & Claims

ETRA '10: Proceedings of the 2010 Symposium on Eye-Tracking Research & Applications

Pages 117 - 120

https://doi.org/10.1145/1743666.1743695

Published: 22 March 2010 Publication History

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Abstract

We have developed a low-latency combined eye and head tracker suitable for teleoperating a remote robotic head in real-time. Eye and head movements of a human (wizard) are tracked and replicated by the robot with a latency of 16.5 ms. The tracking is achieved by three fully synchronized cameras attached to a head mount. One forward-looking, wide-angle camera is used to determine the wizard's head pose with respect to the LEDs on the video monitor; the other two cameras are for binocular eye tracking. The whole system operates at a sample rate of 220 Hz, which allows the capture and reproduction of biological movements as precisely as possible while keeping the overall latency low. In future studies, this setup will be used as an experimental platform for Wizard-of-Oz evaluations of gaze-based human-robot interaction. In particular, the question will be addressed as to what extent aspects of human eye movements need to be implemented in a robot in order to guarantee a smooth interaction.

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Cited By

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Tatler BHansen DPelz J(2019)Eye Movement Recordings in Natural SettingsEye Movement Research10.1007/978-3-030-20085-5_13(549-592)Online publication date: 17-Oct-2019
https://doi.org/10.1007/978-3-030-20085-5_13
Henriquez PHiguera OMatuszewski B(2014)Head pose tracking for immersive applications2014 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP.2014.7025392(1957-1961)Online publication date: Oct-2014
https://doi.org/10.1109/ICIP.2014.7025392
Reingold E(2014)Eye tracking research and technology: Towards objective measurement of data qualityVisual Cognition10.1080/13506285.2013.87648122:3-4(635-652)Online publication date: 7-Mar-2014
https://doi.org/10.1080/13506285.2013.876481
Show More Cited By

Low-latency combined eye and head tracking system for teleoperating a robotic head in real-time
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision tasks

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Information & Contributors

Information

Published In

ETRA '10: Proceedings of the 2010 Symposium on Eye-Tracking Research & Applications

March 2010

353 pages

ISBN:9781605589947

DOI:10.1145/1743666

Conference Chairs:
Carlos Hitoshi Morimoto
University of Sao Paulo, Brazil
,
Howell Istance
De Montfort University, UK
,
Program Chairs:
Aulikki Hyrskykari
University of Tampere, Finland
,
Qiang Ji
Rensselaer Polytechnic Institute

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 22 March 2010

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ETRA '10

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ETRA '10: Eye Tracking Research and Applications

March 22 - 24, 2010

Texas, Austin

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Overall Acceptance Rate 69 of 137 submissions, 50%

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Cited By

View all

Tatler BHansen DPelz J(2019)Eye Movement Recordings in Natural SettingsEye Movement Research10.1007/978-3-030-20085-5_13(549-592)Online publication date: 17-Oct-2019
https://doi.org/10.1007/978-3-030-20085-5_13
Henriquez PHiguera OMatuszewski B(2014)Head pose tracking for immersive applications2014 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP.2014.7025392(1957-1961)Online publication date: Oct-2014
https://doi.org/10.1109/ICIP.2014.7025392
Reingold E(2014)Eye tracking research and technology: Towards objective measurement of data qualityVisual Cognition10.1080/13506285.2013.87648122:3-4(635-652)Online publication date: 7-Mar-2014
https://doi.org/10.1080/13506285.2013.876481
McMurrough CRich JMetsis VNguyen AMakedon FMakedon F(2012)Low-cost head position tracking for gaze point estimationProceedings of the 5th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/2413097.2413125(1-4)Online publication date: 6-Jun-2012
https://dl.acm.org/doi/10.1145/2413097.2413125
Staub CCan SJensen BKnoll AKohlbecher S(2012)Human-computer interfaces for interaction with surgical tools in robotic surgery2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)10.1109/BioRob.2012.6290850(81-86)Online publication date: Jun-2012
https://doi.org/10.1109/BioRob.2012.6290850
Staub CNing YCan SKnoll A(2011)A Distributed Software Framework for Robotic SurgeryThe MIDAS Journal10.54294/2dac6bOnline publication date: 1-Aug-2011
https://doi.org/10.54294/2dac6b

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