Human-like object tracking and gaze estimation with PKD android

Indika B. Wijayasinghe, Haylie L. Miller, Sumit K. Das, Nicoleta L. Bugnariu, Dan O. Popa

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations


As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking capability on Philip K. Dick (PKD) android and a gaze tracking algorithm, both of which further robot capabilities with regard to human communication. PKD's ability to track objects with human-like head postures is achieved with visual feedback from a Kinect system and an eye camera. The goal of object tracking with human-like gestures is twofold: to facilitate better human-robot interactions and to enable PKD as a human gaze emulator for future studies. The gaze tracking system employs a mobile eye tracking system (ETG; SensoMotoric Instruments) and a motion capture system (Cortex; Motion Analysis Corp.) for tracking the head orientations. Objects to be tracked are displayed by a virtual reality system, the Computer Assisted Rehabilitation Environment (CAREN; MotekForce Link). The gaze tracking algorithm converts eye tracking data and head orientations to gaze information facilitating two objectives: to evaluate the performance of the object tracking system for PKD and to use the gaze information to predict the intentions of the user, enabling the robot to understand physical cues by humans.

Original languageEnglish
Title of host publicationSensors for Next-Generation Robotics III
EditorsDan Popa, Muthu B. J. Wijesundara
ISBN (Electronic)9781510601000
StatePublished - 2016
Event3rd Sensors for Next-Generation Robotics Conference - Baltimore, United States
Duration: 20 Apr 201621 Apr 2016

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


Other3rd Sensors for Next-Generation Robotics Conference
Country/TerritoryUnited States


  • Gaze estimation
  • Humanoid robot
  • Object tracking


Dive into the research topics of 'Human-like object tracking and gaze estimation with PKD android'. Together they form a unique fingerprint.

Cite this