DocumentCode :
2339588
Title :
Robust acquisition and recognition of spoken location names by domestic robots
Author :
Funakoshi, Kotaro ; Nakano, Mikio ; Torii, Toyotaka ; Hasegawa, Yuji ; Tsujino, Hiroshi ; Kimura, Noriyuki ; Iwahashi, Naoto
Author_Institution :
Honda Res. Inst. Japan Co. Ltd., Saitama
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
1435
Lastpage :
1440
Abstract :
This paper presents a method that enables a conversational domestic robot to learn location names through speech interaction. Each acquired name is associated with a point on the map coordinate system of the robot. Both for acquisition and recognition of location names, a bag- of-words-based categorization technique is used. Namely, the robot acquires a location name as a frequency pattern of words, and recognizes a spoken location name by computing similarity between the patterns. This makes the robot robust not only against speech recognition errors but also against out- of-vocabulary names. We designed a dialogue and behavior management subsystem that learns location names by using our proposed method and navigates to indicated locations, and implemented the subsystem on an omnidirectional cart robot. The result of a preliminary evaluation of the implemented robot with human subjects suggested this approach is promising.
Keywords :
learning (artificial intelligence); service robots; speech recognition; bag-of-words-based categorization; behavior management subsystem; dialogue management subsystem; domestic robots; location name learning; map coordinate system; omnidirectional cart robot; out-of-vocabulary names; pattern similarity; speech interaction; speech recognition; spoken location name acquisition; spoken location name recognition; word frequency pattern; Automatic speech recognition; Data mining; Frequency; Humans; Intelligent robots; Pattern recognition; Robot kinematics; Robotics and automation; Robustness; Speech recognition;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399357
Filename :
4399357
Link To Document :
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