BIRON, where are you?
Enabling a robot to learn new places in a real home environment by
integrating spoken dialog and visual localization
Thorsten Spexard
, Shuyin Li, Britta Wrede, Jannik Fritsch and Gerhard Sagerer
Olaf Booij, Zoran Zivkovic,Bas Terwijn and Ben Kröse
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.
Abstract
An ambitious goal in modern robotic science is to build mobile robots that are able to interact as companions in real world environments. Especially for caretaking of elderly people a system robustly working at private homes is essential, requiring a very natural and human oriented way of communication. Since home environments are usually very individual a first task for a newly acquired robot is to get familiar with its new environment. This paper gives a short overview on how we integrated a vision based localization using the advantages of a very modular architecture and extending a spoken dialog system for online labeling and interaction about different locations. We present results from the integrated system working in a real, fully furnished home environment where it was able to learn the names of different rooms. This system enables us to perform real user studies in future without the need to fall back to Wizard-of-Oz experiments. Ongoing work aims at enabling the robot to take initiative by asking for unknown locations. A future extension is the ability to generalize over features of known rooms to make predictions when encountering unknown rooms.
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