  This paper considers the problem of designating navigation goal locations for
interactive mobile robots. We propose a point-and-click interface, implemented
with an Augmented Reality (AR) headset. The cameras on the AR headset are used
to detect natural pointing gestures performed by the user. The selected goal is
visualized through the AR headset, allowing the users to adjust the goal
location if desired. We conduct a user study in which participants set
consecutive navigation goals for the robot using three different interfaces: AR
Point & Click, Person Following and Tablet (birdeye map view). Results show
that the proposed AR Point&Click interface improved the perceived accuracy,
efficiency and reduced mental load compared to the baseline tablet interface,
and it performed on-par to the Person Following method. These results show that
the AR Point\&Click is a feasible interaction model for setting navigation
goals.

Robotics