Exploiting Augmented Reality for Extrinsic Robot Calibration and Eye-based Human-Robot Collaboration

摘要

For sensible human-robot interaction, it is crucial for the robot to have an awareness of its physical surroundings. In practical applications, however, the environment is manifold and possible objects for interaction are innumerable. Due to this fact, the use of robots in variable situations surrounded by unknown interaction entities is challenging and the inclusion of pre-trained object-detection neural networks not always feasible. In this work, we propose deploying augmented reality and eye tracking to flexibilize robots in non-predefined scenarios. To this end, we present and evaluate a method for extrinsic calibration of robot sensors, specifically a camera in our case, that is both fast and user-friendly, achieving competitive accuracy compared to classical approaches. By incorporating human gaze into the robot's segmentation process, we enable the 3D detection and localization of unknown objects without any training. Such an approach can facilitate interaction with objects for which training data is not available. At the same time, a visualization of the resulting 3D bounding boxes in the human's augmented reality leads to exceedingly direct feedback, providing insight into the robot's state of knowledge. Our approach thus opens the door to additional interaction possibilities, such as the subsequent initialization of actions like grasping.