Evaluation of Interfaces for 3d Pointing.

A variety of tasks with robots require directing the robot to interact with objects or locations in the world. While many interfaces currently exist for such interactions, in this paper, we focus on inputs which can be categorized as pointing. Specifically, we look at two ways of using the head as a pointing input: Google Glass, and a head pose estimation technique which uses RGBD data. While both of these input modalities have their own advantages and disadvantages, we evaluate them simply as pointing devices, looking at how the device characteristics affects pointing performance. This is evaluated in a user study in which participants perform a series of object designation tasks. We then use distance, time, and object size data to evaluate input devices using Fitts' Law. [ABSTRACT FROM AUTHOR]