{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T20:06:37Z","timestamp":1776110797231,"version":"3.50.1"},"reference-count":53,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2018,3,19]],"date-time":"2018-03-19T00:00:00Z","timestamp":1521417600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2018,6]]},"DOI":"10.1007\/s41315-018-0051-0","type":"journal-article","created":{"date-parts":[[2018,3,19]],"date-time":"2018-03-19T12:50:54Z","timestamp":1521463854000},"page":"136-148","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Gaze and motion information fusion for human intention inference"],"prefix":"10.1007","volume":"2","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6635-2637","authenticated-orcid":false,"given":"Harish Chaandar","family":"Ravichandar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Avnish","family":"Kumar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7091-5607","authenticated-orcid":false,"given":"Ashwin","family":"Dani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2018,3,19]]},"reference":[{"issue":"1","key":"51_CR1","doi-asserted-by":"publisher","first-page":"25","DOI":"10.5898\/JHRI.6.1.Admoni","volume":"6","author":"H Admoni","year":"2017","unstructured":"Admoni, H., Scassellati, B.: Social eye gaze in human-robot interaction: a review. J. Hum. Robot Interact. 6(1), 25\u201363 (2017)","journal-title":"J. Hum. Robot Interact."},{"key":"51_CR2","doi-asserted-by":"crossref","unstructured":"Bader, T., Vogelgesang, M., Klaus, E.: Multimodal integration of natural gaze behavior for intention recognition during object manipulation. In: International conference on Multimodal interfaces, pp. 199\u2013206 (2009)","DOI":"10.1145\/1647314.1647350"},{"issue":"4","key":"51_CR3","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1016\/S1364-6613(00)01615-6","volume":"5","author":"DA Baldwin","year":"2001","unstructured":"Baldwin, D.A., Baird, J.A.: Discerning intentions in dynamic human action. Trends Cognit. Sci. 5(4), 171\u2013178 (2001)","journal-title":"Trends Cognit. Sci."},{"key":"51_CR4","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279","volume-title":"Estimation with Applications to Tracking and Navigation","author":"Y Bar-Shalom","year":"2001","unstructured":"Bar-Shalom, Y., Li, X.R., Kirubarajan, T.: Estimation with Applications to Tracking and Navigation. Wiley, New York (2001)"},{"key":"51_CR5","doi-asserted-by":"crossref","unstructured":"Bartlett, M.S., Littlewort, G., Fasel, I., Movellan, J.R.: Real time face detection and facial expression recognition: development and applications to human computer interaction. In: IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPRW), vol. 5, pp. 53\u201353 (2003)","DOI":"10.1109\/CVPRW.2003.10057"},{"key":"51_CR6","doi-asserted-by":"crossref","unstructured":"Dani, A.P., McCourt, M., Curtis, J.W., Mehta, S.: Information fusion in human-robot collaboration using neural network representation. In: IEEE Conference on Systems, Man, Cybernetics, pp. 2114\u20132120 (2014)","DOI":"10.1109\/SMC.2014.6974234"},{"key":"51_CR7","doi-asserted-by":"crossref","unstructured":"Ding, H., Rei\u00dfig, G., Wijaya, K., Bortot, D., Bengler, K., Stursberg, O.: Human arm motion modeling and long-term prediction for safe and efficient human-robot-interaction. In: IEEE International Conference on Robotics and Automation, pp. 5875\u20135880 (2011)","DOI":"10.1109\/ICRA.2011.5980248"},{"issue":"4","key":"51_CR8","doi-asserted-by":"publisher","first-page":"591","DOI":"10.1016\/j.robot.2014.01.003","volume":"62","author":"J Elfring","year":"2014","unstructured":"Elfring, J., Van De Molengraft, R., Steinbuch, M.: Learning intentions for improved human motion prediction. Robotics Auton. Syst. 62(4), 591\u2013602 (2014)","journal-title":"Robotics Auton. Syst."},{"issue":"2","key":"51_CR9","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1007\/s11263-009-0275-4","volume":"88","author":"M Everingham","year":"2010","unstructured":"Everingham, M., Van Gool, L., Williams, C.K., Winn, J., Zisserman, A.: The pascal visual object classes (voc) challenge. Int. J. Comput. Vis. 88(2), 303\u2013338 (2010)","journal-title":"Int. J. Comput. Vis."},{"issue":"6950","key":"51_CR10","doi-asserted-by":"publisher","first-page":"769","DOI":"10.1038\/nature01861","volume":"424","author":"JR Flanagan","year":"2003","unstructured":"Flanagan, J.R., Johansson, R.S.: Action plans used in action observation. Nature 424(6950), 769\u2013771 (2003)","journal-title":"Nature"},{"key":"51_CR11","unstructured":"Friesen, A.L., Rao, R.P.: Gaze following as goal inference: a Bayesian model. In: Annual Conference of the Cognitive Science Society, vol.\u00a033 (2011)"},{"key":"51_CR12","doi-asserted-by":"crossref","unstructured":"Gehrig, D., Krauthausen, P., Rybok, L., Kuehne, H., Hanebeck, U.D., Schultz, T., Stiefelhagen, R.: Combined intention, activity, and motion recognition for a humanoid household robot. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4819\u20134825 (2011)","DOI":"10.1109\/IROS.2011.6095118"},{"issue":"3","key":"51_CR13","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1561\/1100000005","volume":"1","author":"MA Goodrich","year":"2007","unstructured":"Goodrich, M.A., Schultz, A.C.: Human-robot interaction: a survey. Found. Trends Hum. Comput. Interact. 1(3), 203\u2013275 (2007)","journal-title":"Found. Trends Hum. Comput. Interact."},{"issue":"4","key":"51_CR14","doi-asserted-by":"publisher","first-page":"2975","DOI":"10.1109\/TAES.2015.150015","volume":"51","author":"K Granstrom","year":"2015","unstructured":"Granstrom, K., Willett, P., Bar-Shalom, Y.: Systematic approach to IMM mixing for unequal dimension states. IEEE Trans. Aerosp. Electron. Syst. 51(4), 2975\u20132986 (2015)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"5","key":"51_CR15","doi-asserted-by":"publisher","first-page":"591","DOI":"10.1177\/1745691615589103","volume":"10","author":"G Gredeb\u00e4ck","year":"2015","unstructured":"Gredeb\u00e4ck, G., Falck-Ytter, T.: Eye movements during action observation. Perspect. Psychol. Sci. 10(5), 591\u2013598 (2015)","journal-title":"Perspect. Psychol. Sci."},{"key":"51_CR16","unstructured":"Hart, J.W., Gleeson, B., Pan, M., Moon, A., MacLean, K., Croft, E.: Gesture, gaze, touch, and hesitation: timing cues for collaborative work. In: HRI Workshop on Timing in Human-Robot Interaction, Bielefeld (2014)"},{"issue":"4","key":"51_CR17","doi-asserted-by":"publisher","first-page":"188","DOI":"10.1016\/j.tics.2005.02.009","volume":"9","author":"M Hayhoe","year":"2005","unstructured":"Hayhoe, M., Ballard, D.: Eye movements in natural behavior. Trends Cognit. Sci. 9(4), 188\u2013194 (2005)","journal-title":"Trends Cognit. Sci."},{"key":"51_CR18","doi-asserted-by":"crossref","unstructured":"Jia, Y., Shelhamer, E., Donahue, J., Karayev, S., Long, J., Girshick, R., Guadarrama, S., Darrell, T.: Caffe: convolutional architecture for fast feature embedding. In: ACM International Conference on Multimedia, pp. 675\u2013678 (2014)","DOI":"10.1145\/2647868.2654889"},{"issue":"1","key":"51_CR19","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1037\/0033-2909.100.1.78","volume":"100","author":"CL Kleinke","year":"1986","unstructured":"Kleinke, C.L.: Gaze and eye contact: a research review. Psychol. Bull. 100(1), 78 (1986)","journal-title":"Psychol. Bull."},{"issue":"8","key":"51_CR20","doi-asserted-by":"publisher","first-page":"951","DOI":"10.1177\/0278364913478446","volume":"32","author":"HS Koppula","year":"2013","unstructured":"Koppula, H.S., Gupta, R., Saxena, A.: Learning human activities and object affordances from rgb-d videos. Int. J. Robotics Res. 32(8), 951\u2013970 (2013)","journal-title":"Int. J. Robotics Res."},{"issue":"5","key":"51_CR21","doi-asserted-by":"publisher","first-page":"991","DOI":"10.1109\/TRO.2007.904899","volume":"23","author":"D Kulic","year":"2007","unstructured":"Kulic, D., Croft, E.A.: Affective state estimation for human-robot interaction. IEEE Trans. Robotics 23(5), 991\u20131000 (2007)","journal-title":"IEEE Trans. Robotics"},{"issue":"3","key":"51_CR22","doi-asserted-by":"publisher","first-page":"1007","DOI":"10.1109\/TMECH.2013.2264533","volume":"19","author":"Y Li","year":"2014","unstructured":"Li, Y., Ge, S.: Human-robot collaboration based on motion intention estimation. IEEE\/ASME Trans. Mechatron. 19(3), 1007\u20131014 (2014)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"51_CR23","doi-asserted-by":"crossref","unstructured":"Lin, T., Maire, M., Belongie, S., Hays, J., Perona, P., Ramanan, D., Doll\u00e1r, P., Zitnick, C.L.: Microsoft coco: Common objects in context. In: European Conference on Computer Vision, pp. 740\u2013755 (2014)","DOI":"10.1007\/978-3-319-10602-1_48"},{"key":"51_CR24","unstructured":"Liu, C., Hamrick, J.B., Fisac, J.F., Dragan, A.D., Hedrick, J.K., Sastry, S.S., Griffiths, T.L.: Goal inference improves objective and perceived performance in human-robot collaboration. In: International Conference on Autonomous Agents & Multiagent Systems, International Foundation for Autonomous Agents and Multiagent Systems, pp. 940\u2013948 (2016)"},{"issue":"6","key":"51_CR25","doi-asserted-by":"publisher","first-page":"683","DOI":"10.1016\/S0005-1098(98)00019-3","volume":"34","author":"W Lohmiller","year":"1998","unstructured":"Lohmiller, W., Slotine, J.J.E.: On contraction analysis for nonlinear systems. Automatica 34(6), 683\u2013696 (1998)","journal-title":"Automatica"},{"key":"51_CR26","doi-asserted-by":"crossref","unstructured":"Luo, R., Hayne, R., Berenson, D.: Unsupervised early prediction of human reaching for human\u2013robot collaboration in shared workspaces. Autonom. Robots 42(3), 631\u2013648 (2017)","DOI":"10.1007\/s10514-017-9655-8"},{"issue":"3","key":"51_CR27","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1162\/neco.1992.4.3.415","volume":"4","author":"DJ MacKay","year":"1992","unstructured":"MacKay, D.J.: Bayesian interpolation. Neural Comput. 4(3), 415\u2013447 (1992)","journal-title":"Neural Comput."},{"key":"51_CR28","doi-asserted-by":"crossref","unstructured":"Mainprice, J., Hayne, R., Berenson, D.: Predicting human reaching motion in collaborative tasks using inverse optimal control and iterative re-planning. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 885\u2013892 (2015)","DOI":"10.1109\/ICRA.2015.7139282"},{"key":"51_CR29","unstructured":"Matsumoto, Y., Heinzmann, J., Zelinsky, A.: The essential components of human-friendly robot systems. In: International Conference on Field and Service Robotics, pp. 43\u201351 (1999)"},{"key":"51_CR30","doi-asserted-by":"crossref","unstructured":"Matuszek, C., Herbst, E., Zettlemoyer, L., Fox, D.: Learning to parse natural language commands to a robot control system. In: Experimental Robotics. Springer Tracts in Advanced Robotics, vol. 88. Springer, Heidelberg (2013)","DOI":"10.1007\/978-3-319-00065-7_28"},{"key":"51_CR31","doi-asserted-by":"crossref","unstructured":"Monfort, M., Liu, A., Ziebart, B.D.: Intent prediction and trajectory forecasting via predictive inverse linear-quadratic regulation. In: AAAI Conference on Artificial Intelligence, pp. 3672\u20133678 (2015)","DOI":"10.1609\/aaai.v29i1.9674"},{"key":"51_CR32","doi-asserted-by":"crossref","unstructured":"Morato, C., Kaipa, K.N., Zhao, B., Gupta, S.K.: Toward safe human robot collaboration by using multiple kinects based real-time human tracking. J. Comput. Inf. Sci. Eng. 14(1):011,006\u20131\u2013011,006\u20139 (2014)","DOI":"10.1115\/1.4025810"},{"key":"51_CR33","doi-asserted-by":"crossref","unstructured":"P\u00e9rez-D\u2019Arpino, C., Shah, J.A.: Fast target prediction of human reaching motion for cooperative human-robot manipulation tasks using time series classification. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6175\u20136182 (2015)","DOI":"10.1109\/ICRA.2015.7140066"},{"key":"51_CR34","unstructured":"Preece, J., Rogers, Y., Sharp, H., Benyon, D., Holland, S., Carey, T.: Human-computer interaction. Addison-Wesley Longman Ltd, Essex, UK (1994)"},{"key":"51_CR35","doi-asserted-by":"crossref","unstructured":"Ravichandar, H., Dani, A.P.: Human intention inference through interacting multiple model filtering. In: IEEE Conference on Multisensor Fusion and Integration (MFI), pp. 220\u2013225 (2015a)","DOI":"10.1109\/MFI.2015.7295812"},{"key":"51_CR36","doi-asserted-by":"crossref","unstructured":"Ravichandar, H., Dani, A.P.: Learning contracting nonlinear dynamics from human demonstration for robot motion planning. In: ASME Dynamic Systems and Control Conference (DSCC) (2015b)","DOI":"10.1115\/DSCC2015-9870"},{"issue":"2","key":"51_CR37","doi-asserted-by":"publisher","first-page":"855","DOI":"10.1109\/TASE.2016.2624279","volume":"14","author":"H Ravichandar","year":"2017","unstructured":"Ravichandar, H., Dani, A.P.: Human intention inference using expectation-maximization algorithm with online model learning. IEEE Trans. Autom. Sci. Eng. 14(2), 855\u2013868 (2017)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"51_CR38","doi-asserted-by":"crossref","unstructured":"Ravichandar, H., Kumar, A., Dani, A.: Bayesian human intention inference through multiple model filtering with gaze-based priors. In: 19th International Conference on Information Fusion (FUSION), pp. 2296\u20132302 (2016)","DOI":"10.1109\/MFI.2015.7295812"},{"key":"51_CR39","unstructured":"Ravichandar, H., Salehi, I., Dani, A.: Learning partially contracting dynamical systems from demonstrations. In: Proceedings of the 1st Annual Conference on Robot Learning, PMLR, vol.\u00a078, pp. 369\u2013378 (2017)"},{"issue":"2","key":"51_CR40","doi-asserted-by":"publisher","first-page":"1180","DOI":"10.1109\/LRA.2017.2662741","volume":"2","author":"YS Razin","year":"2017","unstructured":"Razin, Y.S., Pluckter, K., Ueda, J., Feigh, K.: Predicting task intent from surface electromyography using layered hidden markov models. IEEE Robotics Autom. Lett. 2(2), 1180\u20131185 (2017)","journal-title":"IEEE Robotics Autom. Lett."},{"key":"51_CR41","unstructured":"Recasens, A., Khosla, A., Vondrick, C., Torralba, A.: Where are they looking? In: Advances in Neural Information Processing Systems (NIPS) (2015)"},{"issue":"3","key":"51_CR42","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1007\/s11263-015-0816-y","volume":"115","author":"O Russakovsky","year":"2015","unstructured":"Russakovsky, O., Deng, J., Su, H., Krause, J., Satheesh, S., Ma, S., Huang, Z., Karpathy, A., Khosla, A., Bernstein, M., et al.: Imagenet large scale visual recognition challenge. Int. J. Comput. Vis. 115(3), 211\u2013252 (2015)","journal-title":"Int. J. Comput. Vis."},{"issue":"6","key":"51_CR43","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1016\/S1364-6613(99)01327-3","volume":"3","author":"S Schaal","year":"1999","unstructured":"Schaal, S.: Is imitation learning the route to humanoid robots? Trends Cognit. Sci. 3(6), 233\u2013242 (1999)","journal-title":"Trends Cognit. Sci."},{"key":"51_CR44","unstructured":"Simon, M.A.: Understanding human action: social explanation and the vision of social science. SUNY Press, Albany, NY (1982)"},{"key":"51_CR45","doi-asserted-by":"crossref","unstructured":"Song, D., Kyriazis, N., Oikonomidis, I., Papazov, C., Argyros, A., Burschka, D., Kragic, D.: Predicting human intention in visual observations of hand\/object interactions. In: 2013 IEEE International Conference on Robotics and Automation, IEEE, pp. 1608\u20131615 (2013)","DOI":"10.1109\/ICRA.2013.6630785"},{"issue":"1","key":"51_CR46","doi-asserted-by":"publisher","first-page":"112","DOI":"10.5898\/JHRI.2.1.Strabala","volume":"2","author":"KW Strabala","year":"2013","unstructured":"Strabala, K.W., Lee, M.K., Dragan, A.D., Forlizzi, J.L., Srinivasa, S., Cakmak, M., Micelli, V.: Towards seamless human-robot handovers. J. Hum. Robot Interact. 2(1), 112\u2013132 (2013)","journal-title":"J. Hum. Robot Interact."},{"key":"51_CR47","doi-asserted-by":"crossref","unstructured":"Traver, V.J., del Pobil, A.P., Perez-Francisco, M.: Making service robots human-safe. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems., pp. 696\u2013701 (2000)","DOI":"10.1109\/IROS.2000.894685"},{"key":"51_CR48","doi-asserted-by":"crossref","unstructured":"Tsai, C.S., Hu, J.S., Tomizuka, M.: Ensuring safety in human-robot coexistence environment. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4191\u20134196 (2014)","DOI":"10.1109\/IROS.2014.6943153"},{"issue":"5","key":"51_CR49","doi-asserted-by":"publisher","first-page":"1698","DOI":"10.1109\/TCST.2016.2628769","volume":"25","author":"RB Warrier","year":"2017","unstructured":"Warrier, R.B., Devasia, S.: Inferring intent for novice human-in-the-loop iterative learning control. IEEE Trans. Control Syst. Technol. 25(5), 1698\u20131710 (2017)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"51_CR50","unstructured":"Xiao, J., Hays, J., Ehinger, K.A., Oliva, A., Torralba, A.: Sun database: Large-scale scene recognition from abbey to zoo. In: Computer vision and pattern recognition (CVPR), 2010 IEEE conference on, IEEE, pp. 3485\u20133492 (2010)"},{"key":"51_CR51","doi-asserted-by":"crossref","unstructured":"Yao, B., Jiang, X., Khosla, A., Lin, A., Guibas, L., Fei-Fei, L.: Human action recognition by learning bases of action attributes and parts. In: International Conference on Computer Vision (ICCV), Barcelona (2011)","DOI":"10.1109\/ICCV.2011.6126386"},{"key":"51_CR52","doi-asserted-by":"crossref","unstructured":"Yarbus, A.L.: Eye movements during perception of complex objects. In: Eye Movements and Vision, Springer, Boston, MA, pp. 171\u2013211 (1967)","DOI":"10.1007\/978-1-4899-5379-7_8"},{"key":"51_CR53","unstructured":"Zhou, B., Lapedriza, A., Xiao, J., Torralba, A., Oliva, A.: Learning deep features for scene recognition using places database. In: Advances in Neural Information Processing Systems 27 (NIPS), pp. 487\u2013495 (2014)"}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s41315-018-0051-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-018-0051-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-018-0051-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,2]],"date-time":"2025-07-02T21:39:34Z","timestamp":1751492374000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s41315-018-0051-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,3,19]]},"references-count":53,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2018,6]]}},"alternative-id":["51"],"URL":"https:\/\/doi.org\/10.1007\/s41315-018-0051-0","relation":{},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,3,19]]},"assertion":[{"value":"31 October 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 March 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 March 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}