  Gaze is an intuitive and direct way to represent the intentions of an
individual. However, when it comes to assistive aerial teleoperation which aims
to perform operators' intention, rare attention has been paid to gaze. Existing
methods obtain intention directly from the remote controller (RC) input, which
is inaccurate, unstable, and unfriendly to non-professional operators. Further,
most teleoperation works do not consider environment perception which is vital
to guarantee safety. In this paper, we present GPA-Teleoperation, a gaze
enhanced perception-aware assistive teleoperation framework, which addresses
the above issues systematically. We capture the intention utilizing gaze
information, and generate a topological path matching it. Then we refine the
path into a safe and feasible trajectory which simultaneously enhances the
perception awareness to the environment operators are interested in.
Additionally, the proposed method is integrated into a customized quadrotor
system. Extensive challenging indoor and outdoor real-world experiments and
benchmark comparisons verify that the proposed system is reliable, robust and
applicable to even unskilled users. We will release the source code of our
system to benefit related researches.
