Informing a Robot of Object Location with Both Hand-Gesture and Verbal Cues
Informing a Robot of Object Location with Both Hand-Gesture and Verbal Cues
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通过手势和语言提示告知机器人物体位置
DOI：
10.1541/ieejeiss.123.2142
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Yamamura
中科院分区：
文献类型：
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作者：
Tomoyasu Mizuno;Y. Takeuchi;H. Kudo;Tetsuya Matsumoto;N. Ohnishi;T. Yamamura
近年来，各种机器人被开发出来，在人类生活空间中工作的机器人也越来越多。机器人和人类之间最重要的交互之一是人类通知机器人物体的位置。这项工作的目的是使一个接口，用于通知机器人的对象位置在人类生活空间与几个对象。我们假设机器人已经通过声源定位找到了用户。首先，机器人识别用户的指向手势和口头提示，并检测对象位置的候选者。该系统通过立体摄像机识别指向方向，并识别语言提示。使用指向手势的方向和指示词来限制搜索空间。当检测到多个候选对象时，系统会向用户询问其他特征，例如颜色名称或这些对象之间的相对位置，然后找到其中一个。我们在对话任务上进行了实验。搜索空间里，有三样东西。系统能够通过对话框指定对象，之后，机器人向其移动。
Recently, many kinds of robots are developed, and there are a lot of robots which work in human living space. One of the most important interactions between a robot and human is when a human informs a robot of an object’s location. The purpose of this work is to make an interface for informing a robot of object location in a human living space with several objects. We assume that the robot has found a user by sound source localization. At the beginning, the robot recognizes pointing gesture and verbal cues of the user, and detects candidates of object location. The system recognizes pointing direction by a stereo camera, and recognizes verbal cues. The direction of the pointing gesture and the directive word are used to restrict the searching space. When multiple object candidates are detected, the system asks the user for additional features such as color name or relative location among those, and then finds one of them. We have conducted experiments on a dialog task. There were three objects in the searching space. The system is able specify the object by dialog, after which, the robot moves toward it.