Human-like Person Tracking with an Anthropomorphic Robot

Spexard TP, Haasch A, Fritsch J, Sagerer G (2006)
In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). Orlando, Florida: IEEE: 1286-1292.

Conference Paper | Published | English

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Abstract
A very important aspect in developing robots capable of human-robot interaction (HRI) is natural, human-like communication. Besides a flexible dialog system and speech understanding an anthropomorphic appearance has many advantages for intuitive usage and understanding of a robot. As a consequence of our effort in creating an anthropomorphic appearance and to come as close as possible to a human-human interaction, we decided to use human-like sensors, i.e., two cameras and two microphones only, not using a laser range finder or omnidirectional camera for tracking persons. Despite the challenge of a limited field of perception, a robust attention system for tracking and interacting with multiple persons simultaneously in real-time was created. Our approach is sufficiently generic to work on robots with varying hardware, as long as stereo audio data and images of a video camera are available. Since the architecture is designed modular with a XML based data exchange we are able to extend the robot’s abilities easily.
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Spexard TP, Haasch A, Fritsch J, Sagerer G. Human-like Person Tracking with an Anthropomorphic Robot. In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). Orlando, Florida: IEEE; 2006: 1286-1292.
Spexard, T. P., Haasch, A., Fritsch, J., & Sagerer, G. (2006). Human-like Person Tracking with an Anthropomorphic Robot. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 1286-1292.
Spexard, T. P., Haasch, A., Fritsch, J., and Sagerer, G. (2006). “Human-like Person Tracking with an Anthropomorphic Robot” in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) (Orlando, Florida: IEEE), 1286-1292.
Spexard, T.P., et al., 2006. Human-like Person Tracking with an Anthropomorphic Robot. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). Orlando, Florida: IEEE, pp. 1286-1292.
T.P. Spexard, et al., “Human-like Person Tracking with an Anthropomorphic Robot”, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, Florida: IEEE, 2006, pp.1286-1292.
Spexard, T.P., Haasch, A., Fritsch, J., Sagerer, G.: Human-like Person Tracking with an Anthropomorphic Robot. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). p. 1286-1292. IEEE, Orlando, Florida (2006).
Spexard, Thorsten P., Haasch, Axel, Fritsch, Jannik, and Sagerer, Gerhard. “Human-like Person Tracking with an Anthropomorphic Robot”. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA). Orlando, Florida: IEEE, 2006. 1286-1292.
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