ICRA 2011 Paper Abstract


Paper WeA103.3

Hemachandra, Sachithra Madhawa (MIT), Kollar, Thomas (MIT), Roy, Nicholas (Massachusetts Institute of Technology), Teller, Seth (MIT)

Following and Interpreting Narrated Guided Tours

Scheduled for presentation during the Regular Sessions "Autonomous Navigation III" (WeA103), Wednesday, May 11, 2011, 08:50−09:05, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Autonomous Navigation, Mapping, Human detection & tracking


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.



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