5,186 research outputs found

    Self-Supervised Vision-Based Detection of the Active Speaker as Support for Socially-Aware Language Acquisition

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    This paper presents a self-supervised method for visual detection of the active speaker in a multi-person spoken interaction scenario. Active speaker detection is a fundamental prerequisite for any artificial cognitive system attempting to acquire language in social settings. The proposed method is intended to complement the acoustic detection of the active speaker, thus improving the system robustness in noisy conditions. The method can detect an arbitrary number of possibly overlapping active speakers based exclusively on visual information about their face. Furthermore, the method does not rely on external annotations, thus complying with cognitive development. Instead, the method uses information from the auditory modality to support learning in the visual domain. This paper reports an extensive evaluation of the proposed method using a large multi-person face-to-face interaction dataset. The results show good performance in a speaker dependent setting. However, in a speaker independent setting the proposed method yields a significantly lower performance. We believe that the proposed method represents an essential component of any artificial cognitive system or robotic platform engaging in social interactions.Comment: 10 pages, IEEE Transactions on Cognitive and Developmental System

    Contextual Social Networking

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    The thesis centers around the multi-faceted research question of how contexts may be detected and derived that can be used for new context aware Social Networking services and for improving the usefulness of existing Social Networking services, giving rise to the notion of Contextual Social Networking. In a first foundational part, we characterize the closely related fields of Contextual-, Mobile-, and Decentralized Social Networking using different methods and focusing on different detailed aspects. A second part focuses on the question of how short-term and long-term social contexts as especially interesting forms of context for Social Networking may be derived. We focus on NLP based methods for the characterization of social relations as a typical form of long-term social contexts and on Mobile Social Signal Processing methods for deriving short-term social contexts on the basis of geometry of interaction and audio. We furthermore investigate, how personal social agents may combine such social context elements on various levels of abstraction. The third part discusses new and improved context aware Social Networking service concepts. We investigate special forms of awareness services, new forms of social information retrieval, social recommender systems, context aware privacy concepts and services and platforms supporting Open Innovation and creative processes. This version of the thesis does not contain the included publications because of copyrights of the journals etc. Contact in terms of the version with all included publications: Georg Groh, [email protected] zentrale Gegenstand der vorliegenden Arbeit ist die vielschichtige Frage, wie Kontexte detektiert und abgeleitet werden können, die dazu dienen können, neuartige kontextbewusste Social Networking Dienste zu schaffen und bestehende Dienste in ihrem Nutzwert zu verbessern. Die (noch nicht abgeschlossene) erfolgreiche Umsetzung dieses Programmes fĂŒhrt auf ein Konzept, das man als Contextual Social Networking bezeichnen kann. In einem grundlegenden ersten Teil werden die eng zusammenhĂ€ngenden Gebiete Contextual Social Networking, Mobile Social Networking und Decentralized Social Networking mit verschiedenen Methoden und unter Fokussierung auf verschiedene Detail-Aspekte nĂ€her beleuchtet und in Zusammenhang gesetzt. Ein zweiter Teil behandelt die Frage, wie soziale Kurzzeit- und Langzeit-Kontexte als fĂŒr das Social Networking besonders interessante Formen von Kontext gemessen und abgeleitet werden können. Ein Fokus liegt hierbei auf NLP Methoden zur Charakterisierung sozialer Beziehungen als einer typischen Form von sozialem Langzeit-Kontext. Ein weiterer Schwerpunkt liegt auf Methoden aus dem Mobile Social Signal Processing zur Ableitung sinnvoller sozialer Kurzzeit-Kontexte auf der Basis von Interaktionsgeometrien und Audio-Daten. Es wird ferner untersucht, wie persönliche soziale Agenten Kontext-Elemente verschiedener Abstraktionsgrade miteinander kombinieren können. Der dritte Teil behandelt neuartige und verbesserte Konzepte fĂŒr kontextbewusste Social Networking Dienste. Es werden spezielle Formen von Awareness Diensten, neue Formen von sozialem Information Retrieval, Konzepte fĂŒr kontextbewusstes Privacy Management und Dienste und Plattformen zur UnterstĂŒtzung von Open Innovation und KreativitĂ€t untersucht und vorgestellt. Diese Version der Habilitationsschrift enthĂ€lt die inkludierten Publikationen zurVermeidung von Copyright-Verletzungen auf Seiten der Journals u.a. nicht. Kontakt in Bezug auf die Version mit allen inkludierten Publikationen: Georg Groh, [email protected]

    Bio-Inspired Modality Fusion for Active Speaker Detection

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    Human beings have developed fantastic abilities to integrate information from various sensory sources exploring their inherent complementarity. Perceptual capabilities are therefore heightened enabling, for instance, the well known "cocktail party" and McGurk effects, i.e. speech disambiguation from a panoply of sound signals. This fusion ability is also key in refining the perception of sound source location, as in distinguishing whose voice is being heard in a group conversation. Furthermore, Neuroscience has successfully identified the superior colliculus region in the brain as the one responsible for this modality fusion, with a handful of biological models having been proposed to approach its underlying neurophysiological process. Deriving inspiration from one of these models, this paper presents a methodology for effectively fusing correlated auditory and visual information for active speaker detection. Such an ability can have a wide range of applications, from teleconferencing systems to social robotics. The detection approach initially routes auditory and visual information through two specialized neural network structures. The resulting embeddings are fused via a novel layer based on the superior colliculus, whose topological structure emulates spatial neuron cross-mapping of unimodal perceptual fields. The validation process employed two publicly available datasets, with achieved results confirming and greatly surpassing initial expectations.Comment: Submitted to IEEE RA-L with IROS option, 202

    A Survey on Human-aware Robot Navigation

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    Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form of embodied agents or robots, have so far been used only for specific applications and are often limited to functional roles (e.g. in the industry, entertainment and military fields). Given the current growth and innovation in the research communities concerned with the topics of robot navigation, human-robot-interaction and human activity recognition, it seems like this might soon change. Robots are increasingly easy to obtain and use and the acceptance of them in general is growing. However, the design of a socially compliant robot that can function as a companion needs to take various areas of research into account. This paper is concerned with the navigation aspect of a socially-compliant robot and provides a survey of existing solutions for the relevant areas of research as well as an outlook on possible future directions.Comment: Robotics and Autonomous Systems, 202

    Emotions in context: examining pervasive affective sensing systems, applications, and analyses

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    Pervasive sensing has opened up new opportunities for measuring our feelings and understanding our behavior by monitoring our affective states while mobile. This review paper surveys pervasive affect sensing by examining and considering three major elements of affective pervasive systems, namely; “sensing”, “analysis”, and “application”. Sensing investigates the different sensing modalities that are used in existing real-time affective applications, Analysis explores different approaches to emotion recognition and visualization based on different types of collected data, and Application investigates different leading areas of affective applications. For each of the three aspects, the paper includes an extensive survey of the literature and finally outlines some of challenges and future research opportunities of affective sensing in the context of pervasive computing

    State of the art of audio- and video based solutions for AAL

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    Working Group 3. Audio- and Video-based AAL ApplicationsIt is a matter of fact that Europe is facing more and more crucial challenges regarding health and social care due to the demographic change and the current economic context. The recent COVID-19 pandemic has stressed this situation even further, thus highlighting the need for taking action. Active and Assisted Living (AAL) technologies come as a viable approach to help facing these challenges, thanks to the high potential they have in enabling remote care and support. Broadly speaking, AAL can be referred to as the use of innovative and advanced Information and Communication Technologies to create supportive, inclusive and empowering applications and environments that enable older, impaired or frail people to live independently and stay active longer in society. AAL capitalizes on the growing pervasiveness and effectiveness of sensing and computing facilities to supply the persons in need with smart assistance, by responding to their necessities of autonomy, independence, comfort, security and safety. The application scenarios addressed by AAL are complex, due to the inherent heterogeneity of the end-user population, their living arrangements, and their physical conditions or impairment. Despite aiming at diverse goals, AAL systems should share some common characteristics. They are designed to provide support in daily life in an invisible, unobtrusive and user-friendly manner. Moreover, they are conceived to be intelligent, to be able to learn and adapt to the requirements and requests of the assisted people, and to synchronise with their specific needs. Nevertheless, to ensure the uptake of AAL in society, potential users must be willing to use AAL applications and to integrate them in their daily environments and lives. In this respect, video- and audio-based AAL applications have several advantages, in terms of unobtrusiveness and information richness. Indeed, cameras and microphones are far less obtrusive with respect to the hindrance other wearable sensors may cause to one’s activities. In addition, a single camera placed in a room can record most of the activities performed in the room, thus replacing many other non-visual sensors. Currently, video-based applications are effective in recognising and monitoring the activities, the movements, and the overall conditions of the assisted individuals as well as to assess their vital parameters (e.g., heart rate, respiratory rate). Similarly, audio sensors have the potential to become one of the most important modalities for interaction with AAL systems, as they can have a large range of sensing, do not require physical presence at a particular location and are physically intangible. Moreover, relevant information about individuals’ activities and health status can derive from processing audio signals (e.g., speech recordings). Nevertheless, as the other side of the coin, cameras and microphones are often perceived as the most intrusive technologies from the viewpoint of the privacy of the monitored individuals. This is due to the richness of the information these technologies convey and the intimate setting where they may be deployed. Solutions able to ensure privacy preservation by context and by design, as well as to ensure high legal and ethical standards are in high demand. After the review of the current state of play and the discussion in GoodBrother, we may claim that the first solutions in this direction are starting to appear in the literature. A multidisciplinary 4 debate among experts and stakeholders is paving the way towards AAL ensuring ergonomics, usability, acceptance and privacy preservation. The DIANA, PAAL, and VisuAAL projects are examples of this fresh approach. This report provides the reader with a review of the most recent advances in audio- and video-based monitoring technologies for AAL. It has been drafted as a collective effort of WG3 to supply an introduction to AAL, its evolution over time and its main functional and technological underpinnings. In this respect, the report contributes to the field with the outline of a new generation of ethical-aware AAL technologies and a proposal for a novel comprehensive taxonomy of AAL systems and applications. Moreover, the report allows non-technical readers to gather an overview of the main components of an AAL system and how these function and interact with the end-users. The report illustrates the state of the art of the most successful AAL applications and functions based on audio and video data, namely (i) lifelogging and self-monitoring, (ii) remote monitoring of vital signs, (iii) emotional state recognition, (iv) food intake monitoring, activity and behaviour recognition, (v) activity and personal assistance, (vi) gesture recognition, (vii) fall detection and prevention, (viii) mobility assessment and frailty recognition, and (ix) cognitive and motor rehabilitation. For these application scenarios, the report illustrates the state of play in terms of scientific advances, available products and research project. The open challenges are also highlighted. The report ends with an overview of the challenges, the hindrances and the opportunities posed by the uptake in real world settings of AAL technologies. In this respect, the report illustrates the current procedural and technological approaches to cope with acceptability, usability and trust in the AAL technology, by surveying strategies and approaches to co-design, to privacy preservation in video and audio data, to transparency and explainability in data processing, and to data transmission and communication. User acceptance and ethical considerations are also debated. Finally, the potentials coming from the silver economy are overviewed.publishedVersio

    An Intelligent Robot and Augmented Reality Instruction System

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    Human-Centered Robotics (HCR) is a research area that focuses on how robots can empower people to live safer, simpler, and more independent lives. In this dissertation, I present a combination of two technologies to deliver human-centric solutions to an important population. The first nascent area that I investigate is the creation of an Intelligent Robot Instructor (IRI) as a learning and instruction tool for human pupils. The second technology is the use of augmented reality (AR) to create an Augmented Reality Instruction (ARI) system to provide instruction via a wearable interface. To function in an intelligent and context-aware manner, both systems require the ability to reason about their perception of the environment and make appropriate decisions. In this work, I construct a novel formulation of several education methodologies, particularly those known as response prompting, as part of a cognitive framework to create a system for intelligent instruction, and compare these methodologies in the context of intelligent decision making using both technologies. The IRI system is demonstrated through experiments with a humanoid robot that uses object recognition and localization for perception and interacts with students through speech, gestures, and object interaction. The ARI system uses augmented reality, computer vision, and machine learning methods to create an intelligent, contextually aware instructional system. By using AR to teach prerequisite skills that lend themselves well to visual, augmented reality instruction prior to a robot instructor teaching skills that lend themselves to embodied interaction, I am able to demonstrate the potential of each system independently as well as in combination to facilitate students\u27 learning. I identify people with intellectual and developmental disabilities (I/DD) as a particularly significant use case and show that IRI and ARI systems can help fulfill the compelling need to develop tools and strategies for people with I/DD. I present results that demonstrate both systems can be used independently by students with I/DD to quickly and easily acquire the skills required for performance of relevant vocational tasks. This is the first successful real-world application of response-prompting for decision making in a robotic and augmented reality intelligent instruction system

    Overcoming barriers and increasing independence: service robots for elderly and disabled people

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    This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable
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