Technological evaluation of gesture and speech interfaces for enabling dismounted soldier-robot dialogue
Technological evaluation of gesture and speech interfaces for enabling dismounted soldier-robot dialogue
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用于实现徒步士兵与机器人对话的手势和语音界面的技术评估
DOI：
10.1117/12.2223894
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Jonathan Harris
中科院分区：
文献类型：
--
作者：
Ravi Kiran Kattoju;D. Barber;J. Abich;Jonathan Harris
随着军事行动中直观的士兵与机器人通信的需求日益增加以及交互技术的进步，自主机器人已经从辅助工具转变为能够为一系列军事行动提供服务的功能和操作队友。尽管手势和语音识别技术有所改进，但它们在支持士兵与机器人通信方面的有效性仍然不确定。本研究的目的是评估手势和语音接口技术的性能，以促进自主机器人执行空间导航任务期间士兵与机器人之间的通信。基于手势和语音语义的空间导航命令利用美国陆军视觉信号野战手册中的现有视觉和口头交流词典以及先前建立的班级词汇 (SLV)。语音命令由翻领麦克风和 Microsoft Kinect 记录，并由商业现成的自动语音识别 (ASR) 软件进行分类。使用定制的无线手势手套和软件捕获视觉信号并对其进行分类。实验参与者通过单独或同时向机器人发出一系列手势和语音命令，命令机器人在缩小的城市场景中完成模拟 ISR 任务。分析并报告了手势和语音硬件接口和识别工具的性能和可靠性。实验结果分析表明，所采用的手势技术具有巨大的潜力，可以基于执行手势命令所需的高分类精度和最少的训练来实现双向士兵-机器人团队对话。
With increasing necessity for intuitive Soldier-robot communication in military operations and advancements in interactive technologies, autonomous robots have transitioned from assistance tools to functional and operational teammates able to service an array of military operations. Despite improvements in gesture and speech recognition technologies, their effectiveness in supporting Soldier-robot communication is still uncertain. The purpose of the present study was to evaluate the performance of gesture and speech interface technologies to facilitate Soldier-robot communication during a spatial-navigation task with an autonomous robot. Gesture and speech semantically based spatial-navigation commands leveraged existing lexicons for visual and verbal communication from the U.S Army field manual for visual signaling and a previously established Squad Level Vocabulary (SLV). Speech commands were recorded by a Lapel microphone and Microsoft Kinect, and classified by commercial off-the-shelf automatic speech recognition (ASR) software. Visual signals were captured and classified using a custom wireless gesture glove and software. Participants in the experiment commanded a robot to complete a simulated ISR mission in a scaled down urban scenario by delivering a sequence of gesture and speech commands, both individually and simultaneously, to the robot. Performance and reliability of gesture and speech hardware interfaces and recognition tools were analyzed and reported. Analysis of experimental results demonstrated the employed gesture technology has significant potential for enabling bidirectional Soldier-robot team dialogue based on the high classification accuracy and minimal training required to perform gesture commands.