Mobile robot teleoperation through eye-gaze (telegaze)

Latif, HO, 2010. Mobile robot teleoperation through eye-gaze (telegaze). PhD, Nottingham Trent University.

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Abstract

In most teleoperation applications the human operator is required to monitor the status of the robot, as well as, issue controlling commands for the whole duration of the operation. Using a vision based feedback system, monitoring the robot requires the operator to look at a continuous stream of images displayed on an interaction screen. The eyes of the operator therefore, are fully engaged in monitoring and the hands in controlling. Since the eyes of the operator are engaged in monitoring anyway, inputs from their gaze can be used to aid in controlling. This frees the hands of the operator, either partially or fully, from controlling which can then be used to perform any other necessary tasks. However, the challenge here lies in distinguishing between the inputs that can be used for controlling and the inputs that can be used for monitoring. In mobile robot teleoperation, controlling is mainly composed of issuing locomotion commands to drive the robot. Monitoring on the other hand, is looking where the robot goes and looking for any obstacles in the route. Interestingly, there exist a strong correlation between human's gazing behaviours and their moving intentions. This correlation has been exploited in this thesis to investigate novel means for mobile robot teleoperation through eye-gaze, which has been named TeleGaze for short.

Item Type: Thesis
Creators: Latif, H.O.
Date: 2010
Rights: This work is the intellectual property of the author. You may copy up to 5% of this work for private study, or personal, non-commercial research. Any re-use of the information contained within this document should be fully referenced, quoting the author, title, university, degree level and pagination. Queries or requests for any other use, or if a more substantial copy is required, should be directed in the first instance to the owner(s) of the Intellectual Property Rights.
Divisions: Schools > School of Science and Technology
Depositing User: EPrints Services
Date Added: 09 Oct 2015 09:36
Last Modified: 09 Oct 2015 09:36
URI: http://irep.ntu.ac.uk/id/eprint/329

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