Gaze Estimation for Human-Robot Interaction: Analysis Using the NICO Platform

Abstract

This paper evaluates the current gaze estimation methods within a human-robot interaction (HRI) context of a shared workspace scenario. We introduce a new, annotated dataset collected with the NICO robotic platform. We evaluate four state-of-the-art gaze estimation models. The evaluation shows that the angular errors are close to those reported on general-purpose benchmarks. However, when expressed in terms of distance in the shared workspace the best median error is 14.57~cm, quantifying the practical limitations of current methods. We conclude by discussing these limitations and offering recommendations on how to best integrate gaze estimation as a modality in HRI systems.

arXiv commentCode available at http://github.com/kocurvik/nico_gaze data available at: https://doi.org/10.5281/zenodo.23059771. Accepted to appear in the proceedings of ICETA 2026