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Following and Interpreting Narrated Guided Tours

Author(s)
Hemachandra, Sachithra Madhaw; Kollar, Thomas Fleming; Roy, Nicholas; Teller, Seth
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Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/
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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
Date issued
2011-05
URI
http://hdl.handle.net/1721.1/64642
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
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
Other identifiers
Paper WeA103.3
ISSN
2152-4092
1050-4729

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