Feature extraction from faces using deformable templates
International Journal of Computer Vision
Neural Network-Based Face Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Detecting Faces in Images: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Social Interaction of Humanoid RobotBased on Audio-Visual Tracking
IEA/AIE '02 Proceedings of the 15th international conference on Industrial and engineering applications of artificial intelligence and expert systems: developments in applied artificial intelligence
A decision-theoretic generalization of on-line learning and an application to boosting
EuroCOLT '95 Proceedings of the Second European Conference on Computational Learning Theory
ISR: An Intelligent Service Robot
Selected Papers from the International Workshop on Sensor Based Intelligent Robots
WACV '96 Proceedings of the 3rd IEEE Workshop on Applications of Computer Vision (WACV '96)
Real-Time Multi-View Face Detection
FGR '02 Proceedings of the Fifth IEEE International Conference on Automatic Face and Gesture Recognition
Estimating focus of attention based on gaze and sound
Proceedings of the 2001 workshop on Perceptive user interfaces
Perceptual anchoring of symbols for action
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Combining environmental cues & head gestures to interact with wearable devices
ICMI '05 Proceedings of the 7th international conference on Multimodal interfaces
ICMI '05 Proceedings of the 7th international conference on Multimodal interfaces
Human detection using a mobile platform and novel features derived from a visual saliency mechanism
Image and Vision Computing
Robust Human Face Detection for Moving Pictures Based on Cascade-Typed Hybrid Classifier
ICIC '07 Proceedings of the 3rd International Conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence
Laser-based navigation enhanced with 3D time-of-flight data
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Audio/video fusion for objects recognition
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A robot learns to know people: first contacts of a robot
KI'06 Proceedings of the 29th annual German conference on Artificial intelligence
IEEE Transactions on Audio, Speech, and Language Processing - Special issue on processing reverberant speech: methodologies and applications
Human-Robot interaction through mixed-initiative planning for rescue and search rovers
AI*IA'05 Proceedings of the 9th conference on Advances in Artificial Intelligence
Enhancing interaction through exaggerated motion synthesis
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Robotics and Autonomous Systems
Acquisition of object pose from barcode for robot manipulation
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Designing engagement-aware agents for multiparty conversations
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Gesture-based interaction with voice feedback for a tour-guide robot
Journal of Visual Communication and Image Representation
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In order to enable the widespread use of robots in home and office environments, systems with natural interaction capabilities have to be developed. A prerequisite for natural interaction is the robot's ability to automatically recognize when and how long a person's attention is directed towards it for communication. As in open environments several persons can be present simultaneously, the detection of the communication partner is of particular importance. In this paper we present an attention system for a mobile robot which enables the robot to shift its attention to the person of interest and to maintain attention during interaction. Our approach is based on a method for multi-modal person tracking which uses a pan-tilt camera for face recognition, two microphones for sound source localization, and a laser range finder for leg detection. Shifting of attention is realized by turning the camera into the direction of the person which is currently speaking. From the orientation of the head it is decided whether the speaker addresses the robot. The performance of the proposed approach is demonstrated with an evaluation. In addition, qualitative results from the performance of the robot at the exhibition part of the ICVS'03 are provided.