Commanding an Indoor Robot with Gaze Using Eye Tracking Glasses and Motion Capture Camera
Shetty, Vijeth (2017)
2017
Automation Engineering
Teknisten tieteiden tiedekunta – Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2017-08-16
Julkaisun pysyvä osoite on
http://urn.fi/URN:NBN:fi:tty-201708241724
http://urn.fi/URN:NBN:fi:tty-201708241724
Tiivistelmä
For a robot to navigate any environment, it should have a perception of its position. This is achieved by robots ability to create a virtual map of the environment or by its ability to keep track of its position using global positioning system. With theavailability of motion tracking systems, it is possible to have an independent system which can keep track of the robot.
This thesis tries to use Eye tracking glasses in conjunction with Motion tracking system to command and guide a TurtleBot around a predefined 3D space. This is achieved with the help of Robotic system toolbox present in MatLab which helps in communicating with Robot Operating System (ROS) installed in TurtleBot, Eye tracking glasses use Virtual reality peripheral network to connect with Matlab and Motive.
Matlab scripts are used to retrieve data of gaze direction from Eye tracking glasses and calculate the final position desired by the user. The distance and orientation of final position is calculated with respect to the present position of the Robot. It is oriented and moved towards the final position while being tracked using motion tracking system.
This thesis managed to establish a system for communication between Eye tracking glasses, Motion tracking system and Turtlebot. Which is reliable and easy to setup.
This thesis tries to use Eye tracking glasses in conjunction with Motion tracking system to command and guide a TurtleBot around a predefined 3D space. This is achieved with the help of Robotic system toolbox present in MatLab which helps in communicating with Robot Operating System (ROS) installed in TurtleBot, Eye tracking glasses use Virtual reality peripheral network to connect with Matlab and Motive.
Matlab scripts are used to retrieve data of gaze direction from Eye tracking glasses and calculate the final position desired by the user. The distance and orientation of final position is calculated with respect to the present position of the Robot. It is oriented and moved towards the final position while being tracked using motion tracking system.
This thesis managed to establish a system for communication between Eye tracking glasses, Motion tracking system and Turtlebot. Which is reliable and easy to setup.