Gaze Control Using Human Eye Movements

In this paper, we propose a visual servoing of the orientation of a camera mounted on a robot, using human eye movements. The aimed domain is the remote survey of sensitive sites or the intervention in contaminated nuclear sites. Visual data stemmed from an eye-tracker, providing the direction of the look of an operator, is generally noisy and sometimes inconsistent. Filtering, smoothing and stabilizing this eyetracker data are thus necessary in order to move the camera in the direction specified by the operator's eye. The visual servoing control scheme, as well as experimental results, are also presented