Estimation of user's attention based on gaze and environment measurements for robotic wheelchair

In this paper, we describe a robotic wheelchair system as a guide robot. This system detects the head pose and gaze direction of the user, and recognizes its position and the surrounding environment using a range sensor and a map. Since the system can detect where the user is looking from the measurements, it can estimate the attention of the user on the wheelchair by the duration of gaze. Experimental results indicate the validity of the speed control assistance using the estimation of user's attention.