BIRON, where are you? Enabling a robot to learn new places in a real home environment by integrating spoken dialog and visual localization

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 934-940

  Spexard, Thorsten ^a   Li, Shuyin ^a   Wrede, Britta ^a   Fritsch, Jannik ^a,c   Sagerer, Gerhard ^a   Booij, Olaf ^b   Zivkovic, Zoran ^b   Terwijn, Bas ^b   Kröse, Ben ^b  

^a BIELEFELD UNIVERSITY   (Germany)

^b UNIVERSITY OF AMSTERDAM   (Netherlands)

^c HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

HUMAN COMPUTER INTERACTION; MOBILE ROBOTS; REAL TIME SYSTEMS; ROBOTICS;

ROBOTIC SCIENCE; WIZARD-OF-OZ EXPERIMENTS;

ROBOT APPLICATIONS;

EID: 34250646170     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281770     Document Type: Conference Paper

References (28)

1. J. Forlizzi, C. DiSalvo, and F. Gemperle, "Assistive robotics and an ecology of elders living independently in their homes," Journal of HCI Special Issue on Human-Robot Interaction, vol. 19, no. 1/2, pp. 25-59, January 2004.
2. COGNIRON, "The cognitive robot companion," http://www.cogniron. org.
3. H. Asoh, N. Vlassis, Y. Motomura, F. Asano, I. Hara, S. Hayamizu, K. Itou, T. Kurita, T. Matsui, R. Bunschoten, and B. Kröse, "Jijo-2: An office robot that communicates and learns," IEEE Intelligent Systems, vol. 16, no. 5, pp. 46-55, Sep/Oct 2001.
4. R. Siegwart and et al., "Robox at expo.02: A large scale installation of personal robots," Special issue on Socially Interactive Robots, Robotics and Autonomous Systems, vol. 42, no. 3-4, pp. 203-222, 2003.
5. W. Burgard, A. Cremers, D. Fox, D. Hhnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun, "The interactive museum tour-guide robot," in Proc. of the Fifteenth National Conference on Artificial Intelligence (AAAI-98), 1998.
6. B. Kröse, J. Porta, K. Crucq, A. van Breemen, M. Nuttin, and E. Demeester, "Lino, the user-interface robot," in Proceedings of the First European Symposium on Ambience Intelligence (EUSAI), E. Aarts, R. Collier, E. van Loenen, and B. Ruyter, Eds. Eindhoven, The Netherlands: Springer, Nov. 2003, pp. 264-274, iSBN 3-540-20418-0.
7. H. H. Lund and J. Nielsen, "An edutainment robotics survey," in In Proceedings of the Third International Symposium, on Human and Artificial Intelligence Systems: The Dynamic Systems Approach for Embodiment and Sociality, Fukui, Dec 2002.
8. J. Fritsch, M. Kleinehagenbrock, A. Haasch, S. Wrede, and G. Sagerer, "A flexible infrastructure for the development of a robot companion with extensible HRI-capabilities," in Proc. IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, April 2005, pp. 3419-3425.
9. M. Kleinehagenbrock, J. Fritsch, and G. Sagerer, "Supporting advanced interaction capabilities on a mobile robot with a flexible control system," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 3, Sendai, Japan, September/October 2004, pp. 3649-3655.
10. S. Wrede, J. Fritsch, C. Bauckhage, and G. Sagerer, "An XML Based Framework for Cognitive Vision Architectures," in Proc. Int. Conf. on Pattern Recognition, no. 1, 2004, pp. 757-760.
11. J. Fritsch, M. Kleinehagenbrock, S. Lang, G. A. Fink, and G. Sagerer, "Audiovisual person tracking with a mobile robot," in Proc. Int. Conf. on Intelligent Autonomous Systems, F. Groen, N. Amato, A. Bonarini, E. Yoshida, and B. Kröse, Eds. Amsterdam: IOS Press, March 2004, pp. 898-906.
12. S. Coradeschi and A. Saffiotti, "Perceptual anchoring of symbols for action," in Proc. of the 17th IJCAI Conference, Seattle, Washington, 2001, pp. 407-412.
13. S. Lang, M. Kleinehagenbrock, S. Hohenner, J. Fritsch, G. A. Fink, and G. Sagerer, "Providing the basis for human-robot-interaction: A multi-modal attention system for a mobile robot," in Proc. Int. Conf. on Multimodal Interfaces. Vancouver, Canada: ACM, November 2003, pp. 28-35.
14. A. Haasch, N. Hofemann, J. Fritsch, and G. Sagerer, "A multi-modal object attention system for a mobile robot," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Edmonton, Alberta, Canada: IEEE, August 2005, pp. 1499-1504.
15. S. Hüwel and B. Wrede, "Situated speech understanding for robust multi-modal human-robot communication," in Proceedings of the International Conference on Computational Linguistics (COUNG/ACL). ACL, 2006, to appear.
16. Z. Zivkovic, B. Bakker, and B. Kröse, "Hierarchical map building using visual landmarks and geometric constraints," in Intl. Conf. on Intelligent Robotics and Systems. Edmundton, Canada: IEEE/JRS, August 2005.
17. Z. Zivkovic and O. Booij, "How did we built our hyperbolic mirror omnidirectional camera - practical issues and basic geometry," University of Amsterdam, Tech. Rep. IAS-UVA-05-04, 2005.
18. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, vol. 60, no. 2, pp. 91-110, 2004.
19. J. Kosecká, F. Li, and X. Yang, "Global localization and relative positioning based on scale-invariant keypoints." Robotics and Autonomous Systems, vol. 52, no. 1, pp. 27-38, 2005.
20. F. Schaffalitzky and A. Zisserman, "Multi-view matching for unordered image sets, or "How do I organize my holiday snaps?"," in Proceedings of the 7th European Conference on Computer Vision, Copenhagen, Denmark, vol. 1. Springer-Verlag, 2002, pp. 414-431.
21. J.Shi and J.Malik, "Normalized cuts and image segmentation," IEEE Transactions on Pattern Anlysis and Machine Intelligence, vol. 22, no. 8, pp. 888-904, 2000.
22. Z. Zivkovic, B. Bakker, and B. Kröse, "Hierarchical map building and planning based on graph partitioning," in Proc. IEEE Int. Conf. on Robotics and Automation, 2006, to appear.
23. S. Li, B. Wrede, and G. Sagerer, "A computational model of multimodal grounding," in P roc. SIGdial workshop on discourse and dialog, in conjunction with COLING/ACL. Sydney, Australia: ACL Press, July 2006.
24. H. H. Clark, Ed., Arenas of Language Use. University of Chicago Press, 1992.
25. D. Traum, "A computational theory of grounding in natural language conversation," Ph.D. dissertation, University of Rochester, 1994.
26. J. E. Cahn and S. E. Brennan, "A psychological model of grounding and repair in dialog," in Proc. Fall 1999 AAAI Symposium on Psychological. Models of Communication in Collaborative Systems, 1999.
27. S. Li, B. Wrede, and G. Sagerer, "A dialog system for comparative user studies on robot verbal behavior," in Proc. 15th Int. Symposium on Robot and Human Interactive Communication. Hatfield, United Kingdom: IEEE Press, September 2006.
28. Applied Computer Science - Bielefeld University, "Home tour videos," http://www.techfak.uni-bielefeld.de/ags/ai/projects/BIRON/.