Gaze Estimation for Human-Robot Interaction: Analysis Using the NICO Platform
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908580280532992 |
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| author | Palider, Matej Eldardeer, Omar Kocur, Viktor |
| author_facet | Palider, Matej Eldardeer, Omar Kocur, Viktor |
| contents | This paper evaluates the current gaze estimation methods within an HRI context of a shared workspace scenario. We introduce a new, annotated dataset collected with the NICO robotic platform. We evaluate four state-of-the-art gaze estimation models. The evaluation shows that the angular errors are close to those reported on general-purpose benchmarks. However, when expressed in terms of distance in the shared workspace the best median error is 16.48 cm quantifying the practical limitations of current methods. We conclude by discussing these limitations and offering recommendations on how to best integrate gaze estimation as a modality in HRI systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_24001 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Gaze Estimation for Human-Robot Interaction: Analysis Using the NICO Platform Palider, Matej Eldardeer, Omar Kocur, Viktor Computer Vision and Pattern Recognition Robotics I.4.9 This paper evaluates the current gaze estimation methods within an HRI context of a shared workspace scenario. We introduce a new, annotated dataset collected with the NICO robotic platform. We evaluate four state-of-the-art gaze estimation models. The evaluation shows that the angular errors are close to those reported on general-purpose benchmarks. However, when expressed in terms of distance in the shared workspace the best median error is 16.48 cm quantifying the practical limitations of current methods. We conclude by discussing these limitations and offering recommendations on how to best integrate gaze estimation as a modality in HRI systems. |
| title | Gaze Estimation for Human-Robot Interaction: Analysis Using the NICO Platform |
| topic | Computer Vision and Pattern Recognition Robotics I.4.9 |
| url | https://arxiv.org/abs/2509.24001 |