Following and Interpreting Narrated Guided Tours
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Teller_Following and.pdf
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Author(s)
Hemachandra, Sachithra Madhaw
Kollar, Thomas Fleming
Roy, Nicholas
Teller, Seth
Date Issued
May 2011
Journal
Proceedings of the 2011 IEEE International Conference on Robotics and Automation, (ICRA 2011)
Publisher
IEEE Robotics & Automation Society
Citation
Hemachandra, Sachithra et al. "Following and Interpreting Narrated Guided Tours." in Proceedings of the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China.
Version
Author's final manuscript
Abstract
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.
Description
URL to abstract on conference site
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=34&Number=1328
