Speaker attention system for mobile robots using microphone array and face tracking

Song, Kai‐Tai; Hu, Jwu‐Sheng; Tsai, Chi-Yi; Chou, Chung-Min; Cheng, Chieh-Cheng; Liu, Wei‐Han; Yang, Chia‐Feng

doi:10.1109/robot.2006.1642255

Cited by 8 publications

(3 citation statements)

References 16 publications

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“…(1) Feature detection and tracking: perform face detecting and tracking algorithms proposed in [33] to extract the state of the user's face x i y i d x T in the image captured from the camera. (2) Visual state estimator: estimate the optimal system state x * (5) Scaling processing: scale the desired control velocity [v l v r w m t ] T to satisfy the maximum velocity and acceleration limitations of the specific robot system.…”

Section: Experiments Setupmentioning

confidence: 99%

Robust visual tracking control system of a mobile robot based on a dual-Jacobian visual interaction model

Tsai

Song

Dutoit

et al. 2009

Robotics and Autonomous Systems

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Section: Experiments Setupmentioning

confidence: 99%

Robust visual tracking control system of a mobile robot based on a dual-Jacobian visual interaction model

Tsai

Song

Dutoit

et al. 2009

Robotics and Autonomous Systems

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“…There are many papers [1,2,4] which showed that the face tracking techniques have been frequently discussed and have been conducted with several achievements. In [3], they used a microphone and a face tracking skill to produce one of the solutions for the interactive robot. Sonar sensors have been introduced to find the obstacles in many researches [7,8], and they can be used to interact with vision information.…”

Section: Introductionmentioning

confidence: 99%

Path planning strategy design under the experience of mobile robot navigation

Lee

Yang

Hung

et al. 2009

2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)

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This paper presents a path planning strategy for a mobile robot. The path planning strategy is according to the experience that the mobile robot has been experienced in target navigation. The mixed reality technique is implemented by both the Virtools tool and mobile robot. There are three basic interactive behaviors of human beings which have been implemented on this proposed mobile robot. They are targeting navigation behavior, face tracking behavior, and obstacle avoidance behavior; all of them are designed by the fuzzy rule methods, respectively. These behaviors make the proposed path planning strategy possible. The virtual reality environment is used to implement the arbitrator of the behaviors and to choose the behavior rules for dynamic environment changing. Experiments show that the proposed behaviors are well designed. The proposed robot system can optimize the path planning based on the previous navigation experience.

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“…There are many proposed papers [1][2][3]5] that showed the face tracking techniques have been made many discussions and have been conducted several achievements. In [4], they used a microphone and face tracking skill to give one of the solutions for the interactive robot. Sonar sensors have been introduced to find the obstacles in many researches [9,10], and it can be integrated with vision information.…”

Section: Introductionmentioning

confidence: 99%

A novel method to implement an interactive mobile robot

Lee

Guo

Pao

et al. 2009

2009 IEEE Workshop on Advanced Robotics and Its Social Impacts

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This paper presents a novel method to implement an interactive mobile robot. The proposed mobile robot is implemented under the technique of mixed reality. The mixed reality technique is realized by both the Virtools tool and mobile robot. There are three basic interactive behaviors of human beings have been implemented on this proposed mobile robot. There are target navigation behavior, face tracking behavior, and obstacle avoidance behavior; the three behaviors are designed by the fuzzy rules method, respectively. These behaviors lead to the proposed path planning strategy possibly. On the other hand, a novel path planning strategy for a mobile robot is given in this paper. The path planning strategy is according to the experience that the mobile robot has been experienced in target navigation. Experiments show that the proposed behaviors are well designed. With the basic ability of the behaviors, the proposed robot can automatically learn from the previous navigation experience and can optimize the path planning.

show abstract

Speaker attention system for mobile robots using microphone array and face tracking

Cited by 8 publications

References 16 publications

Robust visual tracking control system of a mobile robot based on a dual-Jacobian visual interaction model

Robust visual tracking control system of a mobile robot based on a dual-Jacobian visual interaction model

Path planning strategy design under the experience of mobile robot navigation

A novel method to implement an interactive mobile robot

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