A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction

Swadzba A, Vorwerg C, Wachsmuth S, Rickheit G (2009)
In: International Joint Conference on Artificial Intelligence. AAAI Press: 1857-1863.

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Abstract
The ultimate goal of human-robot interaction is to enable the robot to seamlessly communicate with a human in a natural human-like fashion. Most work in this field concentrates on the speech interpretation and gesture recognition side assuming that a propositional scene representation is available. Less work was dedicated to the extraction of relevant scene structures that underlies these propositions. As a consequence, most approaches are restricted to place recognition or simple table top settings and do not generalize to more complex room setups. In this paper, we propose a hierarchical spatial model that is empirically motivated from psycholinguistic studies. Using this model the robot is able to extract scene structures from a time-of-flight depth sensor and adjust its spatial scene representation by taking verbal statements about partial scene aspects into account. Without assuming any pre-known model of the specific room, we show that the system aligns its sensor-based room representation to a semantically meaningful representation typically used by the human descriptor.
Publishing Year
Conference
International Joint Conference on Artificial Intelligence
Location
Pasadena, CA, USA
Conference Date
2009-07-14
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Swadzba A, Vorwerg C, Wachsmuth S, Rickheit G. A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction. In: International Joint Conference on Artificial Intelligence. AAAI Press; 2009: 1857-1863.
Swadzba, A., Vorwerg, C., Wachsmuth, S., & Rickheit, G. (2009). A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction. International Joint Conference on Artificial Intelligence, 1857-1863.
Swadzba, A., Vorwerg, C., Wachsmuth, S., and Rickheit, G. (2009). “A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction” in International Joint Conference on Artificial Intelligence (AAAI Press), 1857-1863.
Swadzba, A., et al., 2009. A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction. In International Joint Conference on Artificial Intelligence. AAAI Press, pp. 1857-1863.
A. Swadzba, et al., “A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction”, International Joint Conference on Artificial Intelligence, AAAI Press, 2009, pp.1857-1863.
Swadzba, A., Vorwerg, C., Wachsmuth, S., Rickheit, G.: A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction. International Joint Conference on Artificial Intelligence. p. 1857-1863. AAAI Press (2009).
Swadzba, Agnes, Vorwerg, Constanze, Wachsmuth, Sven, and Rickheit, Gert. “A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction”. International Joint Conference on Artificial Intelligence. AAAI Press, 2009. 1857-1863.
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