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Providing the basis for human-robot-interaction

Sebastian Lang, Marcus Kleinehagenbrock, Sascha Hohenner, Jannik Fritsch, Gernot A. Fink, Gerhard Sagerer
2003 Proceedings of the 5th international conference on Multimodal interfaces - ICMI '03  
Our approach is based on a method for multi-modal person tracking which uses a pan-tilt camera for face recognition, two microphones for sound source localization, and a laser range finder for leg detection  ...  In this paper we present an attention system for a mobile robot which enables the robot to shift its attention to the person of interest and to maintain attention during interaction.  ...  for microphone-arrays as well as for only one pair of microphones.  ... 
doi:10.1145/958432.958441 dblp:conf/icmi/LangKHFFS03 fatcat:upzjjyy3lfcghm3sgmafuf7jpe

Providing the basis for human-robot-interaction

Sebastian Lang, Marcus Kleinehagenbrock, Sascha Hohenner, Jannik Fritsch, Gernot A. Fink, Gerhard Sagerer
2003 Proceedings of the 5th international conference on Multimodal interfaces - ICMI '03  
Our approach is based on a method for multi-modal person tracking which uses a pan-tilt camera for face recognition, two microphones for sound source localization, and a laser range finder for leg detection  ...  In this paper we present an attention system for a mobile robot which enables the robot to shift its attention to the person of interest and to maintain attention during interaction.  ...  for microphone-arrays as well as for only one pair of microphones.  ... 
doi:10.1145/958439.958441 fatcat:c56ejxcrp5bm7pmtjfvlce6w4m

User Preference Model for Conscious Services in Smart Environments

Andrey Ronzhin, Jesus Savage, Sergey Glazkov
2011 POLIBITS Research Journal on Computer Science and Computer Engineering With Applications  
mobile information robot and smart meeting room.  ...  cameras, microphone arrays, context dependent automatic archiving and web-transmission of meeting data at the interaction.  ...  A ceiling 4-camera tracking system, a 360° camera, a single microphone for speaker identification, and a circular 16microphone array were used in the University of Southern California smart room [13]  ... 
doi:10.17562/pb-44-7 fatcat:tvwbk5x5zfacdmbbjvg2ien56a

A User Study for an Attention-Directed Robot for Telepresence [chapter]

Rui Yan, Keng Peng Tee, Yuanwei Chua, Zhiyong Huang
2013 Lecture Notes in Computer Science  
The robot is able to automatically direct attention to the person of interest Attention direction is based on an integration of 3D speech source localization and visual face tracking.  ...  In this paper, we present an attention-directed robot with audiovisual attention control system for telepresence applications.  ...  Attention direction to the person of interest in the meeting is achieved by a fusion of visual face tracking using the camera, and 3D sound localization using the microphone array.  ... 
doi:10.1007/978-3-642-39470-6_14 fatcat:uub6igmlvfa7nityeg2bj2pi5y

Real-time Auditory and Visual Multiple-speaker Tracking For Human-robot Interaction

Kazuhiro Nakadai, Ken-ichi Hidai, Hiroshi G. Okuno, Hiroshi Mizoguchi, Hiroaki Kitano
2002 Journal of Robotics and Mechatronics  
This paper addresses real-time multiple speaker tracking because it is essential in robot perception and human-robot social interaction.  ...  As a result, we attain robust real-time speaker tracking with 200 ms delay in a non-anechoic room, even when multiple speakers exist and the tracking person is visually occluded.  ...  Acknowledgments We thank our colleagues of Symbiotic Intelligence Group, Kitano Symbiotic Systems Project; Mr. Tatsuya Matsui and Dr. Tino Lourens, and Prof. H.  ... 
doi:10.20965/jrm.2002.p0479 fatcat:qumewuu4ljba7bzdec55g5bday

Gesture-based attention direction for a telepresence robot: Design and experimental study

Keng Peng Tee, Rui Yan, Yuanwei Chua, Zhiyong Huang, Somchaya Liemhetcharat
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a new telepresence robot with gesture-based attention direction to orient the robot towards attention targets according to human deictic gestures.  ...  Gesture-based attention direction is realized by combining Localist Attractor Network (LAN) and Short-Term Memory (STM).  ...  The authors are grateful to Mr Jason Teo Kok Yung for design work and Ms Yow Ai Ping for help with the experiments.  ... 
doi:10.1109/iros.2014.6943138 dblp:conf/iros/TeeYCHL14 fatcat:5yyqiy66vvazxklccguarwczo4

Continuous sound source localization based on microphone array for mobile robots

Hong Liu, Miao Shen
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
It is a great challenge to perform a sound source localization system for mobile robots, because noise and reverberation in room pose a severe threat for continuous localization.  ...  Experiments are performed with four microphones on a mobile robot. 2736 sets of data are collected for testing and more than 2500 sets of data are used to obtain accurate results of localization.  ...  It is proved that the detection of sound location is in strong real-time for mobile robot using 4-channel microphone array.  ... 
doi:10.1109/iros.2010.5650170 dblp:conf/iros/LiuS10 fatcat:fs5pqddpp5evjlzstooriyylla

Improving human-robot interaction through adaptation to the auditory scene

Eric Martinson, Derek Brock
2007 Proceeding of the ACM/IEEE international conference on Human-robot interaction - HRI '07  
Effective communication with a mobile robot using speech is a difficult problem even when you can control the auditory scene.  ...  For instance, military scenarios might be punctuated by high decibel plane noise and bursts from weaponry that mask parts of the speech output from the robot.  ...  Thanks also to Vlad Morariu who developed the vision system used on the B21R  ... 
doi:10.1145/1228716.1228732 dblp:conf/hri/MartinsonB07 fatcat:feo76lsecjf4dh3usyoq7zjgjm

Integration of the Multi-DOA Estimation Functionality to Human-Robot Interaction

Caleb Rascon, Ivan Meza, Gibran Fuentes, Lisset Salinas, Luis A. Pineda
2015 International Journal of Advanced Robotic Systems  
The proposed strategies are: a) the robot locates calls from users at a relatively long distance; b) the robot faces the user when taking the order; and c) the robot announces whether the acoustic environment  ...  It is of interest to apply such functionality to the core of human-robot interaction (HRI) and investigate its benefits, if any.  ...  Acknowledgements The authors thank the support of CONACYT through projects 81965 and 178673, PAPIIT-UNAM through project IN115710-3, and ICYTDF through project 209/12.  ... 
doi:10.5772/59993 fatcat:uff4zdtnvzho7kifk75dpdsxqy

Designing a socially integrated mobile robot for ethological research

A. Gribovskiy, J. Halloy, J.L. Deneubourg, F. Mondada
2018 Robotics and Autonomous Systems  
The designed system opens new opportunities in the study of behavior in domestic fowl by using mobile robots.  ...  A robot introduced into an animal group, accepted by the animals as conspecifics, and capable of interacting with them is a very efficient tool for ethological research, particularly in studies of collective  ...  For this reason, less computationally expensive methods are usually used in audition systems for mobile robots.  ... 
doi:10.1016/j.robot.2018.02.003 fatcat:sbt4ccxdojgupikrnm47ymmyby

Choosing a Charging Station Using Sound in Colony Robotics

Gary Parker, Ozgur Izmirli
2006 2006 World Automation Congress  
The system uses distinct sound frequency bands to determine the available stations and uses the characteristics of sound and the environment as a type of analog computer to help compute, considering each  ...  This paper reports preliminary results for a system being proposed to help a robot determine which station, among those available, would be its best source of power.  ...  Stoytchev and Arkin [6] used a binaural microphone on a service robot to locate users who are trying to draw its attention.  ... 
doi:10.1109/wac.2006.375996 fatcat:i76cbgdninc5dpxw3ifmpfgzxm

Integrating vision and audition within a cognitive architecture to track conversations

J. Gregory Trafton, Magda D. Bugajska, Benjamin R. Fransen, Raj M. Ratwani
2008 Proceedings of the 3rd international conference on Human robot interaction - HRI '08  
We describe a computational cognitive architecture for robots which we call ACT-R/E (ACT-R/Embodied). ACT-R/E is based on ACT-R [1, 2] but uses different visual, auditory, and movement modules.  ...  We describe a model that uses ACT-R/E to integrate visual and auditory information to perform conversation tracking in a dynamic environment.  ...  Face For interaction with humans, the robot displays an expressive, animated face on its LCD "head." The face is used for looking at conversationalists.  ... 
doi:10.1145/1349822.1349849 dblp:conf/hri/TraftonBFR08 fatcat:tq3b4dwjxng3tojvcsymbaw3nu

Optimizing the layout of multiple mobile robots for cooperative sound source separation

Kouhei Sekiguchi, Yoshiaki Bando, Katsutoshi Itoyama, Kazuyoshi Yoshii
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
A main advantage of our distributed system is that each robot has its own microphone array and all mobile robots can collaborate on source separation by regarding a set of movable microphone arrays as  ...  This paper presents a novel active audition method that enables multiple mobile robots to move to optimal positions for improving the performance of sound source separation.  ...  A new approach to audio-based SLAM is to use multiple mobile robots, each of which has a microphone array, for cooperative localization and separation of multiple sound sources existing in a real environment  ... 
doi:10.1109/iros.2015.7354163 dblp:conf/iros/SekiguchiBIY15 fatcat:plrictmgv5gbhm3z4palegqok4

A Sound Source Localization Device Based on Rectangular Pyramid Structure for Mobile Robot

Guoliang Chen, Yang Xu
2019 Journal of Sensors  
A sound source localization device based on a multimicrophone array with the rectangular pyramid structure is proposed for mobile robot in some indoor applications.  ...  For fast solving the equations, the multimicrophone array space is divided into several subspaces to narrow the solution range, and Newton iteration algorithm is introduced to solve the equations, while  ...  [13] develop a SSL system for mobile robots that uses a square microphone array of 0.17×0.17 m 2 with four sensors attached on the shoulder of a plaster cast of the small size home robot. Ren et al  ... 
doi:10.1155/2019/4639850 fatcat:fhwddenoljcrhgill7eqftbvra

Jijo-2: an office robot that communicates and learns

H. Asoh, Y. Motomura, F. Asano, I. Hara, S. Hayamizu, K. Itou, T. Kurita, T. Matsui, N. Vlassis, R. Bunschoten, B. Krose
2001 IEEE Intelligent Systems  
The robot turns to the speaker, detects his face, and recognizes him. R: Kon-nichiwa, Matsui-san. (Hello, Dr. Matsui.) U1: Asoh-san wa doko? (Where is Mr. Asoh?) R: Honkan ni imasu.  ...  ([I'm] going out for lunch.) R: Schedule wo touroku shimasu. ([I'll] register [the data] to the schedule database.) The robot sends SQL commands to the schedule database. U1: Matsui mo.  ...  Acknowledgments We thank John Fry (Stanford University) for his contribution and the reviewers for their motivating comments. The Real World Computing Program supported this work.  ... 
doi:10.1109/5254.956081 fatcat:dbpigasc5nbgtko5q2vwmwbvf4
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