Skip to main content
SpringerLink
Log in

Spatial References with Gaze and Pointing in Shared Space of Humans and Robots

  • Conference paper
Spatial Cognition IX (Spatial Cognition 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8684))

Included in the following conference series:

Abstract

For solving tasks cooperatively in close interaction with humans, robots need to have timely updated spatial representations. However, perceptual information about the current position of interaction partners is often late. If robots could anticipate the targets of upcoming manual actions, such as pointing gestures, they would have more time to physically react to human movements and could consider prospective space allocations in their planning.

Many findings support a close eye-hand coordination in humans which could be used to predict gestures by observing eye gaze. However, effects vary strongly with the context of the interaction. We collect evidence of eye-hand coordination in a natural route planning scenario in which two agents interact over a map on a table. In particular, we are interested if fixations can predict pointing targets and how target distances affect the interlocutor’s pointing behavior. We present an automatic method combining marker tracking and 3D modeling that provides eye and gesture measurements in real-time.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Abrams, R.A., Meyer, D.E., Kornblum, S.: Eye-hand coordination: Oculomotor control in rapid aimed limb movements. Journal of Experimental Psychology: Human Perception and Performance 16(2), 248–267 (1990)

    Google Scholar 

  2. Antonelli, M., Chinellato, E., del Pobil, A.P.: Implicit mapping of the peripersonal space of a humanoid robot. In: IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain, vol. 3, pp. 1–8. IEEE (2011)

    Google Scholar 

  3. Berti, A., Frassinetti, F.: When far becomes near: Remapping of space by tool use. Journal of Cognitive Neuroscience 12(3), 415–420 (2000)

    Article  Google Scholar 

  4. Biguer, B., Jeannerod, M., Prablanc, C.: The coordination of eye, head, and arm movements during reaching at a single visual target. Experimental Brain Research 46(2), 301–304 (1982)

    Article  Google Scholar 

  5. Breazeal, C., Kidd, C.D., Thomaz, A.L., Hoffman, G., Berlin, M.: Effects of nonverbal communication on efficiency and robustness in human-robot teamwork. In: International Conference on Intelligent Robots and Systems (IROS 2005), pp. 708–713. IEEE (2005)

    Google Scholar 

  6. Carello, C., Grosofsky, A.: Visually perceiving what is reachable. Ecological Psychology 1(1), 27–54 (1989)

    Article  Google Scholar 

  7. Farnè, A., Làdavas, E.: Auditory peripersonal space in humans. Journal of Cognitive Neuroscience 14(7), 1030–1043 (2002)

    Article  Google Scholar 

  8. Green, A., Hüttenrauch, H.: Making a case for spatial prompting in human-robot communication. In: Language Resources and Evaluation (Workshop on Multimodal Corpora: From multimodal behavior theories to usable models) (2006)

    Google Scholar 

  9. Hadjidimitrakis, K., Breveglieri, R., Bosco, A., Fattori, P.: Three-dimensional eye position signals shape both peripersonal space and arm movement activity in the medial posterior parietal cortex. Frontiers in Integrative Neuroscience 6(37) (2012)

    Google Scholar 

  10. Holmes, N.P., Spence, C.: The body schema and the multisensory representation(s) of peripersonal space. Cognitive Processing 5(2), 94–105 (2004)

    Article  Google Scholar 

  11. Holthaus, P., Pitsch, K., Wachsmuth, S.: How can i help? spatial attention strategies for a receptionist robot. International Journal of Social Robots 3, 383–393 (2011)

    Article  Google Scholar 

  12. Holthaus, P., Wachsmuth, S.: Active peripersonal space for more intuitive hri. In: International Conference on Humanoid Robots, pp. 508–513. IEEE RAS, Osaka (2012)

    Google Scholar 

  13. Hüttenrauch, H., Eklundh, K., Green, A., Topp, E.: Investigating Spatial Relationships in Human-Robot Interaction. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5052–5059. IEEE, Beijing (2006)

    Chapter  Google Scholar 

  14. Kendon, A.: Conducting interaction: Patterns of behavior in focused encounters, vol. 7. CUP Archive (1990)

    Google Scholar 

  15. Làdavas, E.: Functional and dynamic properties of visual peripersonal space. Trends in Cognitive Sciences 6(1), 17–22 (2002)

    Article  Google Scholar 

  16. Mark, L., Nemeth, K., Gardner, D.: Postural dynamics and the preferred critical boundary for visually guided reaching. Journal of Experimental Psychology 23(5), 1365–1379 (1997)

    Google Scholar 

  17. Mumm, J., Mutlu, B.: Human-robot proxemics. In: Proceedings of the 6th International Conference on Human-Robot Interaction, HRI 2011, p. 331. ACM Press, New York (2011)

    Google Scholar 

  18. Neggers, S., Bekkering, H.: Ocular gaze is anchored to the target of an ongoing pointing movement. Journal of Neurophysiology 83(2), 639–651 (2000)

    Google Scholar 

  19. Nguyen, N., Wachsmuth, I.: From body space to interaction space-modeling spatial cooperation for virtual humans. In: 10th International Conference on Autonomous Agents and Multiagent Systems, pp. 1047–1054. International Foundation for Autonomous Agents and Multiagent Systems, Taipei (2011)

    Google Scholar 

  20. Nguyen, N., Wachsmuth, I.: A computational model of cooperative spatial behaviour for virtual humans. In: Representing Space in Cognition: Interrelations of Behaviour, Language, and Formal Models, pp. 147–168. Oxford University Press (2013)

    Google Scholar 

  21. Pfeiffer, T.: Understanding Multimodal Deixis with Gaze and Gesture in Conversational Interfaces. Shaker Verlag, Aachen (2011)

    Google Scholar 

  22. Pfeiffer, T.: Interaction between speech and gesture: Strategies for pointing to distant objects. In: Efthimiou, E., Kouroupetroglou, G., Fotinea, S.-E. (eds.) GW 2011. LNCS, vol. 7206, pp. 238–249. Springer, Heidelberg (2012)

    Chapter  Google Scholar 

  23. Pfeiffer, T., Renner, P.: Eyesee3d: A low-cost approach for analyzing mobile 3d eye tracking data using computer vision and augmented reality technology. In: Proceedings of the Symposium on Eye Tracking Research and Applications, pp. 195–202. ACM (2014)

    Google Scholar 

  24. Prablanc, C., Echallier, J., Komilis, E., Jeannerod, M.: Optimal response of eye and hand motor systems in pointing at a visual target. Biological Cybernetics 124, 113–124 (1979)

    Article  Google Scholar 

  25. Previc, F.H.: Functional specialization in the lower and upper visual fields in humans: Its ecological origins and neurophysiological implications. Behavioral and Brain Sciences 13, 519–542 (1990)

    Article  Google Scholar 

  26. Rizzolatti, G., Scandolara, C., Matelli, M., Gentilucci, M.: Afferent properties of periarcuate neurons in macaque monkeys. Behavioural Brain Research 2(2), 147–163 (1981)

    Article  Google Scholar 

  27. Staudte, M., Crocker, M.W.: Visual attention in spoken human-robot interaction. In: Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction, HRI 2009, p. 77. ACM Press, New York (2009)

    Google Scholar 

  28. Velichkovsky, B., Sprenger, A., Pomplun, M.: Auf dem Weg zur Blickmaus: Die Beeinflussung der Fixationsdauer durch kognitive und kommunikative Aufgaben. In: Software-Ergonomie 1997, pp. 317–327. Springer (1997)

    Google Scholar 

  29. Viola, P., Jones, M.J.: Robust real-time face detection. International Journal of Computer Vision 57(2), 137–154 (2004)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Artificial Intelligence Group, Bielefeld University, Universitätsstr. 25, 33615, Bielefeld, Germany

    Patrick Renner & Ipke Wachsmuth

  2. Cognitive Interaction Technology Center of Excellence, Bielefeld University, Universitätsstr. 25, 33615, Bielefeld, Germany

    Thies Pfeiffer

Authors
  1. Patrick Renner
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Thies Pfeiffer
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ipke Wachsmuth
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Universität Bremen, Enrique-Schmidt-Str. 5, 28359, Bremen, Germany

    Christian Freksa  & Thomas Barkowsky  & 

  2. Department of Computer Science, Universität Freiburg, Georges-Köhler-Allee 52, 79110, Freiburg, Germany

    Bernhard Nebel

  3. University of California, 93106, Santa Barbara, CA, USA

    Mary Hegarty

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer International Publishing Switzerland

About this paper

Cite this paper

Renner, P., Pfeiffer, T., Wachsmuth, I. (2014). Spatial References with Gaze and Pointing in Shared Space of Humans and Robots. In: Freksa, C., Nebel, B., Hegarty, M., Barkowsky, T. (eds) Spatial Cognition IX. Spatial Cognition 2014. Lecture Notes in Computer Science(), vol 8684. Springer, Cham. https://doi.org/10.1007/978-3-319-11215-2_9

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-11215-2_9

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11214-5

  • Online ISBN: 978-3-319-11215-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation