Toward Understanding Human Expression in Human-Robot Interaction

Intelligent devices are quickly becoming necessities to support our activities during both work and play. We are already bound in a symbiotic relationship with these devices. An unfortunate effect of the pervasiveness of intelligent devices is the substantial investment of our time and effort to communicate intent. Even though our increasing reliance on these intelligent devices is inevitable, the limits of conventional methods for devices to perceive human expression hinders communication efficiency. These constraints restrict the usefulness of intelligent devices to support our activities. Our communication time and effort must be minimized to leverage the benefits of intelligent devices and seamlessly integrate them into society. Minimizing the time and effort needed to communicate our intent will allow us to concentrate on tasks in which we excel, including creative thought and problem solving. An intuitive method to minimize human communication effort with intelligent devices is to take advantage of our existing interpersonal communication experience. Recent advances in speech, hand gesture, and facial expression recognition provide alternate viable modes of communication that are more natural than conventional tactile interfaces. Use of natural human communication eliminates the need to adapt and invest time and effort using less intuitive techniques required for traditional keyboard and mouse based interfaces. Although the state of the art in natural but isolated modes of communication achieves impressive results, significant hurdles must be conquered before communication with devices in our daily lives will feel natural and effortless. Research has shown that combining information between multiple noise-prone modalities improves accuracy. Leveraging this complementary and redundant content will improve communication robustness and relax current unimodal limitations. This research presents and evaluates a novel multimodal framework to help reduce the total human effort and time required to communicate with intelligent devices. This reduction is realized by determining human intent using a knowledge-based architecture that combines and leverages conflicting information available across multiple natural communication modes and modalities. The effectiveness of this approach is demonstrated using dynamic hand gestures and simple facial expressions characterizing basic emotions. It is important to note that the framework is not restricted to these two forms of communication. The framework presented in this research provides the flexibility necessary to include additional or alternate modalities and channels of information in future research, including improving the robustness of speech understanding. The primary contributions of this research include the leveraging of conflicts in a closed-loop multimodal framework, explicit use of uncertainty in knowledge representation and reasoning across multiple modalities, and a flexible approach for leveraging domain specific knowledge to help understand multimodal human expression. Experiments using a manually defined knowledge base demonstrate an improved average accuracy of individual concepts and an improved average accuracy of overall intents when leveraging conflicts as compared to an open-loop approach