Spatial relation model for object recognition in human-robot interaction

Authors:
Lu Cao;Yoshinori Kobayashi;Yoshinori Kuno
Affiliations:
Graduate School of Information and Computer Science, Saitama University, Sakura, Saitama, Japan;Graduate School of Information and Computer Science, Saitama University, Sakura, Saitama, Japan;Graduate School of Information and Computer Science, Saitama University, Sakura, Saitama, Japan
Venue:
ICIC'09 Proceedings of the 5th international conference on Emerging intelligent computing technology and applications
Year:
2009

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Abstract

Carrying out user commands entails target object detection for service robots. When the robot system suffers from a limited object detection capability, effective communication between the user and the robot facilitates the reference resolution. We aim to develop a service robot, assisting handicapped and elderly people, where most of the user requests are directly or indirectly linked to some objects in the scene. Objects can be described using features like color, shape, size etc. For simple objects on simple backgrounds, theses attributes can be determined with satisfactory results. For complex scenes, position of an object and spatial relation with other objects in the scene, facilitate target object detection. This paper proposes a spatial relation model for the robot to interpret user's spatial relation descriptions. The robot can detect a target object by asking the user the spatial relationship of the object and some known objects automatically recognized.