Title :
Gesture-based attention direction for a telepresence robot: Design and experimental study
Author :
Keng Peng Tee ; Rui Yan ; Yuanwei Chua ; Zhiyong Huang ; Liemhetcharat, Somchaya
Author_Institution :
Inst. for Infocomm Res., A*STAR, Singapore, Singapore
Abstract :
The application of robotics to telepresence can enhance user interaction experience by providing embodiment, engaging behaviors, automatic control, and human perception. 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).We also propose audio-visual fusion based on context-dependent prioritization among the 3 types of audio-visual cues (gesture, speech source location, head location). Experiment results are very promising and show that i) the average gesture recognition rate is 92%, i) gesture-based attention direction rate is 90%, and that ii) only by considering the 3 types of audio-visual cues together can the robot perform on par with a human in directing attention to the correct person in a meeting scenario.
Keywords :
gesture recognition; human-robot interaction; telerobotics; LAN; STM; attention targets; audio-visual cues; audio-visual fusion; context-dependent prioritization; gesture recognition; gesture-based attention direction; human deictic gestures; localist attractor network; short-term memory; telepresence robot; Gesture recognition; Local area networks; Robots; Speech; Target tracking; Visualization;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6943138