Following and Interpreting Narrated Guided Tours
We describe a robotic tour-taking capability enabling a robot to acquire local knowledge of a human-occupied environment. A tour-taking robot autonomously follows a human guide through an environment, interpreting the guide’s spoken utterances and the shared spatiotemporal context in order to acquire a spatially segmented and semantically labeled metrical-topological representation of the environment. The described tour-taking capability enables scalable deployment of mobile robots into human-occupied environments, and natural human-robot interaction for commanded mobility. Our primary contributions are an efficient, socially acceptable autonomous tour-following behavior and a tour interpretation algorithm that partitions a map into spaces labeled according to the guide’s utterances. The tour-taking behavior is demonstrated in a multi-floor office building and evaluated by assessing the comfort of the tour guides, and by comparing the robot’s map partitions to those produced by humans.
Sachithra Hemachandra Thomas Kollar Nicholas Roy Seth Teller
Computer Science and Artificial Intelligence Laboratory United States Department of Astronautics and Aeronautics United States Department of Electrical Engineering and Computer Science,at the Massachusetts Institute of Technolo
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2574-2579
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）