Gaze tracking : seeking critical information for autonomous excavation
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2019
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| Online Access: | https://hdl.handle.net/1721.1/123268 |
| _version_ | 1826192308009172992 |
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| author | Shiozawa, Kaymie. |
| author2 | Harry H. Asada. |
| author_facet | Harry H. Asada. Shiozawa, Kaymie. |
| author_sort | Shiozawa, Kaymie. |
| collection | MIT |
| description | Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019 |
| first_indexed | 2024-09-23T09:09:29Z |
| format | Thesis |
| id | mit-1721.1/123268 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:09:29Z |
| publishDate | 2019 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1232682019-12-14T03:28:46Z Gaze tracking : seeking critical information for autonomous excavation Seeking critical information for autonomous excavation Shiozawa, Kaymie. Harry H. Asada. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering Mechanical Engineering. Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019 Cataloged from PDF version of thesis. Includes bibliographical references (pages 37-38). Automating excavation in mining and construction applications is crucial today as the supply of skilled operators cannot match market demand. To efficiently make control decisions for autonomous excavators without having to take in all visual inputs from a typical operator's field of view, gaze tracking is employed in solely extracting key visual information that skilled operators use in the field. Both a front facing camera depicting the world view of the subject and two eye facing cameras that track the subject's pupil movement are worn by a subject to identify regions and features that are of high interest to operators during a digging task. Key features, such as the interface between the soil and the bucket, are characterized using U-Net, a Convolutional Neural Network designed for image segmentation. Through this study, key regions, the inside of the bucket and the opening of the bucket, as well as key features, the soil-bucket interface, were identified to be of high interest to subjects. This information can serve to identify only the necessary visual inputs in the control decision process, thus shortening computation time. by Kaymie Shiozawa. S.B. S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering 2019-12-13T18:58:29Z 2019-12-13T18:58:29Z 2019 2019 Thesis https://hdl.handle.net/1721.1/123268 1130062405 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 38 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Shiozawa, Kaymie. Gaze tracking : seeking critical information for autonomous excavation |
| title | Gaze tracking : seeking critical information for autonomous excavation |
| title_full | Gaze tracking : seeking critical information for autonomous excavation |
| title_fullStr | Gaze tracking : seeking critical information for autonomous excavation |
| title_full_unstemmed | Gaze tracking : seeking critical information for autonomous excavation |
| title_short | Gaze tracking : seeking critical information for autonomous excavation |
| title_sort | gaze tracking seeking critical information for autonomous excavation |
| topic | Mechanical Engineering. |
| url | https://hdl.handle.net/1721.1/123268 |
| work_keys_str_mv | AT shiozawakaymie gazetrackingseekingcriticalinformationforautonomousexcavation AT shiozawakaymie seekingcriticalinformationforautonomousexcavation |