GazeRoboard: Gaze-communicative guide system in daily life on stuffed-toy robot with interactive display board
ABSTRACT In this paper, we propose a guide system for daily life in semipublic spaces by adopting a gaze-communicative stuffed-toy robot and a gaze-interactive display board. The system provides naturally anthropomorphic guidance through a) gaze-communicative behaviors of the stuffed-toy robot (ldquojoint attentionrdquo and ldquoeye-contact reactionsrdquo) that virtually express its internal mind, b) voice guidance, and c) projection on the board corresponding to the userpsilas gaze orientation. The userpsilas gaze is estimated by our remote gaze-tracking method. The results from both subjective/objective evaluations and demonstration experiments in a semipublic space show i) the holistic operation of the system and ii) the inherent effectiveness of the gaze-communicative guide.
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ABSTRACT: This paper presents a method of selecting the answerer from audiences for a museum guide robot. First, we observed and videotaped scenes when a human guide asks visitors questions in a gallery talk to engage visitors. Based on the interaction analysis, we have found that the human guide selects the appropriate answerer by distributing his/her gaze towards visitors and observing visitors' gaze responses during the pre-question phase. Then, we performed the experiments that a robot distributed its gaze towards visitors to select an answerer and analyzed visitors' responses. From the experiments, we have found that the visitors who are asked questions by the robot feel embarrassed when they have no prior knowledge about the questions and the visitor's gaze before and during the question play an important role to avoid being asked questions. Based on these findings we have developed a function for a guide robot to select the answerer by observing visitors' gaze responses.Proceedings of the 28th International Conference on Human Factors in Computing Systems, CHI 2010, Extended Abstracts Volume, Atlanta, Georgia, USA, April 10-15, 2010; 01/2010
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ABSTRACT: This paper presents a method in a museum guide robot to choose an appropriate answerer among multiple visitors. First, we observed and videotaped scenes of gallery talk when human guides ask visitors questions. Based on an analysis of this video, we have found that the guides selects an answerer by distributing his or her gaze towards multiple visitors and observing the visitors' gaze responses during the question. Then, we performed experiments on a robot that distributes its gaze towards multiple visitors, and analyzed visitors' responses. From these experiments, we found that visitors who are asked questions by the robot felt embarrassed when he or she had no prior knowledge about the questions, and that visitor gaze during the questions plays an important role in avoiding being asked questions. Based on these findings, we have developed a function in a guide robot that observes visitor gaze response and selects an appropriate answerer based on these responses. Gaze responses are tracked and recognized using an omnidirectional camera and a laser range sensor. The effectiveness of our method was confirmed through experiments.RO-MAN, 2010 IEEE; 10/2010
Conference Paper: People tracking using integrated sensors for human robot interaction[Show abstract] [Hide abstract]
ABSTRACT: In human-human interaction, position and orientation of participants' bodies and faces play an important role. Thus, robots need to be able to detect and track human bodies and faces, and obtain human positions and orientations to achieve effective human-robot interaction. It is difficult, however, to robustly obtain such information from video cameras alone in complex environments. Hence, we propose to use integrated sensors that are composed of a laser range sensor and an omni-directional camera. A Rao-Blackwellized particle filter framework is employed to track the position and orientation of both bodies and heads of people based on the distance data and panorama images captured from the laser range sensor and the omni-directional camera. In addition to the tracking techniques, we present two applications of our integrated sensor system. One is a robotic wheelchair moving with a caregiver; the sensor system detects and tracks the caregiver and the wheelchair moves with the caregiver based on the tracking results. The other is a museum guide robot that explains exhibits to multiple visitors; the position and orientation data of visitors' bodies and faces enable the robot to distribute its gaze to each of multiple visitors to keep their attention while talking.Industrial Technology (ICIT), 2010 IEEE International Conference on; 04/2010