Yoshihisa Adachi

Estimation of user's attention based on gaze and environment measurements for robotic wheelchair

In this paper, we describe a robotic wheelchair system as a guide robot. This system detects the head pose and gaze direction of the user, and recognizes its position and the surrounding environment using a range sensor and a map. Since the system can detect where the user is looking from the measurements, it can estimate the attention of the user on the wheelchair by the duration of gaze. Experimental results indicate the validity of the speed control assistance using the estimation of users attention.

Memory-based navigation using data sequence of laser range finder

In this paper we propose a novel navigation method for a mobile robot using a laser range finder based on the memory-based approach. A robot memorizes sequential scanning data of the laser range finder in the recording run. Then the localization of the robot is achieved based on the matching between the current scan and memorized scan sequence in the autonomous run. The matching process utilizes histogram-based method proposed by Weiss et al. Experimental results of the recording run and the autonomous navigation is presented to show the feasibility of the proposed method.

Development of control assistant system for robotic wheelchair-estimation of user's behavior based on measurements of gaze and environment

We develop a control assistant system for a robotic wheelchair as a guide robot. This system detects the head pose and gaze direction of the user and recognizes a position and surrounding environment using sensors and a map. Since the system can detect where the user is looking from the measurements, it can estimate attentions of the user on the wheelchair. Experimental results prove that the users intentions and attentions are related with the duration of gaze and can be distinguished by the information which our robotic wheelchair system can measure.