CASIA OpenIR
Inferring user intent to interact with a public service robot using bimodal information analysis
Li, Kang1,2; Sun, Shiying1; Zhao, Xiaoguang1; Wu, Jinting1,2; Tan, Min1
Source PublicationADVANCED ROBOTICS
ISSN0169-1864
2019-04-18
Pages19
Corresponding AuthorLi, Kang(likang2014@ia.ac.cn)
AbstractAchieving 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.
KeywordIntent interactive inferring public service robot bimodal information analysis robot operating system (ROS)
DOI10.1080/01691864.2019.1599727
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61673378] ; National Natural Science Foundation of China[61421004]
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000465805300001
PublisherTAYLOR & FRANCIS LTD
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24903
Collection中国科学院自动化研究所
Corresponding AuthorLi, Kang
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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