Inferring user intent to interact with a public service robot using bimodal information analysis
文献类型：期刊论文
| 作者 | Li, Kang1,2 ; Sun, Shiying1; Zhao, Xiaoguang1; Wu, Jinting1,2; Tan, Min1
|
| 刊名 | ADVANCED ROBOTICS
 |
| 出版日期 | 2019-04-18 |
| 页码 | 19 |
| 关键词 | Intent interactive inferring public service robot bimodal information analysis robot operating system (ROS) |
| ISSN号 | 0169-1864 |
| DOI | 10.1080/01691864.2019.1599727 |
| 通讯作者 | Li, Kang(likang2014@ia.ac.cn) |
| 英文摘要 | Achieving polite service with a public service robot requires it to proactively ascertain who will interact with it in human-populated environments. Enlightened by interactive inference of intentions among humans, we investigate a novel and practical interactive intention-predicting method for people using bimodal information analysis for a public service robot. Different from the traditional research, only the visual cues are used to analyze the user's attention, this method combines the RGB-D camera and laser information to perceive the user, which realizes the 360-degree range perception, and compensates for the lack of perspective using the RGB-D camera. In addition, seven kinds of interactive intent features were extracted, and a random forest regression model was trained to score the interaction intentions of the people in the field of view. Considering the inference order of two different sensors, a priority rule for intention inference is also designed. The algorithm is implemented into a robot operation system (ROS) and evaluated on our public service robot. Extensive experimental results illustrate that the proposed method enables public service robots to achieve a higher level of politeness than the traditional, passive interactivity approach in which robots wait for commands from users. |
| 资助项目 | National Natural Science Foundation of China[61673378] ; National Natural Science Foundation of China[61421004] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000465805300001 |
| 出版者 | TAYLOR & FRANCIS LTD |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/24902]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Li, Kang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Kang,Sun, Shiying,Zhao, Xiaoguang,et al. Inferring user intent to interact with a public service robot using bimodal information analysis[J]. ADVANCED ROBOTICS,2019:19. |
| APA | Li, Kang,Sun, Shiying,Zhao, Xiaoguang,Wu, Jinting,&Tan, Min.(2019).Inferring user intent to interact with a public service robot using bimodal information analysis.ADVANCED ROBOTICS,19. |
| MLA | Li, Kang,et al."Inferring user intent to interact with a public service robot using bimodal information analysis".ADVANCED ROBOTICS (2019):19. |
入库方式： OAI收割
来源：自动化研究所
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