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Lanillos, P, Ferreira, JF 
ORCID: https://orcid.org/0000-0002-2510-2412 and Dias, J,
2017.
A Bayesian hierarchy for robust gaze estimation in human–robot interaction.
International Journal of Approximate Reasoning, 87, pp. 1-22.
ISSN 0888-613X
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Abstract
In this text, we present a probabilistic solution for robust gaze estimation in the context of human–robot interaction. Gaze estimation, in the sense of continuously assessing gaze direction of an interlocutor so as to determine his/her focus of visual attention, is important in several important computer vision applications, such as the development of non-intrusive gaze-tracking equipment for psychophysical experiments in neuroscience, specialised telecommunication devices, video surveillance, human–computer interfaces (HCI) and artificial cognitive systems for human–robot interaction (HRI), our application of interest. We have developed a robust solution based on a probabilistic approach that inherently deals with the uncertainty of sensor models, but also and in particular with uncertainty arising from distance, incomplete data and scene dynamics. This solution comprises a hierarchical formulation in the form of a mixture model that loosely follows how geometrical cues provided by facial features are believed to be used by the human perceptual system for gaze estimation. A quantitative analysis of the proposed framework's performance was undertaken through a thorough set of experimental sessions. Results show that the framework performs according to the difficult requirements of HRI applications, namely by exhibiting correctness, robustness and adaptiveness.
| Item Type: | Journal article |
|---|---|
| Publication Title: | International Journal of Approximate Reasoning |
| Creators: | Lanillos, P., Ferreira, J.F. and Dias, J. |
| Publisher: | Elsevier |
| Date: | August 2017 |
| Volume: | 87 |
| ISSN: | 0888-613X |
| Identifiers: | Number Type 10.1016/j.ijar.2017.04.007 DOI S0888613X17302712 Publisher Item Identifier |
| Divisions: | Schools > School of Science and Technology |
| Record created by: | Jonathan Gallacher |
| Date Added: | 19 Mar 2018 13:44 |
| Last Modified: | 19 Mar 2018 13:48 |
| URI: | https://irep.ntu.ac.uk/id/eprint/33022 |
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