Following and interpreting narrated guided tours
Following and interpreting narrated guided tours
复制标题
跟随并解释解说导游
DOI：
10.1109/icra.2011.5980209
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Teller
中科院分区：
文献类型：
--
作者：
Sachithra Hemachandra;T. Kollar;N. Roy;S. Teller
我们描述了一种机器人旅游能力，使机器人能够获取人类占领环境的当地知识。一个巡回演出的机器人自主遵循人类的指南，通过环境来解释指南的口语和共同的时空环境，以获取对环境的空间细分和语义标记的度量平衡表示。所描述的巡回演出能力可以使移动机器人可扩展到人类占领的环境中，以及用于指挥移动性的自然人类机器人互动。我们的主要贡献是一种有效的，社会上可接受的自主巡回演出行为，是一种根据指南的话语将地图分配到标记的空间中的旅游解释算法。巡回演出的行为是在多层办公大楼中证明的，并通过评估导游的舒适度以及将机器人的地图分区与人类生产的图表进行比较来评估。
We describe a robotic tour-taking capability enabling a robot to acquire local knowledge of a human-occupied environment. A tour-taking robot autonomously follows a human guide through an environment, interpreting the guide's spoken utterances and the shared spatiotemporal context in order to acquire a spatially segmented and semantically labeled metrical-topological representation of the environment. The described tour-taking capability enables scalable deployment of mobile robots into human-occupied environments, and natural human-robot interaction for commanded mobility. Our primary contributions are an efficient, socially acceptable autonomous tour-following behavior and a tour interpretation algorithm that partitions a map into spaces labeled according to the guide's utterances. The tour-taking behavior is demonstrated in a multi-floor office building and evaluated by assessing the comfort of the tour guides, and by comparing the robot's map partitions to those produced by humans.