Human-robot interaction through real-time auditory and visual multiple-talker tracking

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.977177

HIroshi G. Okuno, K. Nakadai, K. Hidai, H. Mizoguchi, H. Kitano

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引用次数: 87

Abstract

Nakadai et al. (2001) have developed a real-time auditory and visual multiple-talker tracking technique. In this paper, this technique is applied to human-robot interaction including a receptionist robot and a companion robot at a party. The system includes face identification, speech recognition, focus-of-attention control, and sensorimotor task in tracking multiple talkers. The system is implemented on a upper-torso humanoid and the talker tracking is attained by distributed processing on three nodes connected by 100Base-TX network. The delay of tracking is 200 msec. Focus-of-attention is controlled by associating auditory and visual streams by using the sound source direction and talker position as a clue. Once an association is established, the humanoid keeps its face to the direction of the associated talker.

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人机交互通过实时听觉和视觉多说话跟踪

Nakadai等人(2001)开发了一种实时听觉和视觉多说话者跟踪技术。本文将该技术应用于人机交互，包括接待机器人和聚会中的同伴机器人。该系统包括人脸识别、语音识别、注意力集中控制和跟踪多说话者的感觉运动任务。该系统在上半身人形机器人上实现，通过100Base-TX网络连接的三个节点上的分布式处理实现对话人跟踪。跟踪延迟200毫秒。注意力集中是通过使用声源方向和说话人的位置作为线索，将听觉和视觉流联系起来来控制的。一旦建立了联系，人形机器人的脸就会朝着与之联系的说话者的方向。

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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