Spatial context-aware person-following for a domestic robot

Domestic robots are in the focus of research in terms of service providers in households and even as robotic companion that share the living space with humans. A major capability of mobile domestic robots that is joint exploration of space. One challenge to deal with this task is how could we let the robots move in space in reasonable, socially acceptable ways so that it will support interaction and communication as a part of the joint exploration. As a step towards this challenge, we have developed a context-aware following behav- ior considering these social aspects and applied these together with a multi-modal person-tracking method to switch between three basic following approaches, namely direction-following, path-following and parallel-following. These are derived from the observation of human-human following schemes and are activated depending on the current spatial context (e.g. free space) and the relative position of the interacting human. A combination of the elementary behaviors is performed in real time with our mobile robot in different environments. First experimental results are provided to demonstrate the practicability of the proposed approach

Bearing-only acoustic tracking of moving speakers for robot audition

This paper focuses on speaker tracking in robot audition for human-robot interaction. Using only acoustic signals, speaker tracking in enclosed spaces is subject to missing detections and spurious clutter measurements due to speech inactivity, reverberation and interference. Furthermore, many acoustic localization approaches estimate speaker direction, hence providing bearing-only measurements without range information. This paper presents a probability hypothesis density (PHD) tracker that augments the bearing-only speaker directions of arrival with a cloud of range hypotheses at speaker initiation and propagates the random variates through time. Furthermore, due to their formulation PHD filters explicitly model, and hence provide robustness against, clutter and missing detections. The approach is verified using experimental results

On particle filters in radar target tracking

The dissertation focused on the research, implementation, and evaluation of particle filters for radar target track filtering of a maneuvering target, through quantitative simulations and analysis thereof. Target track filtering, also called target track smoothing, aims to minimize the error between a radar target's predicted and actual position. From the literature it had been suggested that particle filters were more suitable for filtering in non-linear/non-Gaussian systems. Furthermore, it had been determined that particle filters were a relatively newer field of research relating to radar target track filtering for non-linear, non-Gaussian maneuvering target tracking problems, compared to the more traditional and widely known and implemented approaches and techniques. The objectives of the research project had been achieved through the development of a software radar target tracking filter simulator, which implemented a sequential importance re-sampling particle filter algorithm and suitable target and noise models. This particular particle filter had been identified from a review of the theory of particle filters. The theory of the more conventional tracking filters used in radar applications had also been reviewed and discussed. The performance of the sequential importance re-sampling particle filter for radar target track filtering had been evaluated through quantitative simulations and analysis thereof, using predefined metrics identified from the literature. These metrics had been the root mean squared error metric for accuracy, and the normalized processing time metric for computational complexity. It had been shown that the sequential importance re-sampling particle filter achieved improved accuracy performance in the track filtering of a maneuvering radar target in a non-Gaussian (Laplacian) noise environment, compared to a Gaussian noise environment. It had also been shown that the accuracy performance of the sequential importance re-sampling particle filter is a function of the number of particles used in the sequential importance re-sampling particle filter algorithm. The sequential importance re-sampling particle filter had also been compared to two conventional tracking filters, namely the alpha-beta filter and the Singer-Kalman filter, and had better accuracy performance in both cases. The normalized processing time of the sequential importance re-sampling particle filter had been shown to be a function of the number of particles used in the sequential importance re-sampling particle filter algorithm. The normalized processing time of the sequential importance re-sampling particle filter had been shown to be higher than that of both the alpha-beta filter and the Singer-Kalman filter. Analysis of the posterior Cramér-Rao lower bound of the sequential importance re-sampling particle filter had also been conducted and presented in the dissertation

Spectral decomposition method of dialog state tracking via collective matrix factorization

The task of dialog management is commonly decomposed into two sequential subtasks: dialog state tracking and dialog policy learning. In an end-to-end dialog system, the aim of dialog state tracking is to accurately estimate the true dialog state from noisy observations produced by the speech recognition and the natural language understanding modules. The state tracking task is primarily meant to support a dialog policy. From a probabilistic perspective, this is achieved by maintaining a posterior distribution over hidden dialog states composed of a set of context dependent variables. Once a dialog policy is learned, it strives to select an optimal dialog act given the estimated dialog state and a defined reward function. This paper introduces a novel method of dialog state tracking based on a bilinear algebric decomposition model that provides an efficient inference schema through collective matrix factorization. We evaluate the proposed approach on the second Dialog State Tracking Challenge (DSTC-2) dataset and we show that the proposed tracker gives encouraging results compared to the state-of-the-art trackers that participated in this standard benchmark. Finally, we show that the prediction schema is computationally efficient in comparison to the previous approaches

3D AUDIO-VISUAL SPEAKER TRACKING WITH AN ADAPTIVE PARTICLE FILTER

reserved4siWe propose an audio-visual fusion algorithm for 3D speaker tracking from a localised multi-modal sensor platform composed of a camera and a small microphone array. After extracting audio-visual cues from individual modalities we fuse them adaptively using their reliability in a particle filter framework. The reliability of the audio signal is measured based on the maximum Global Coherence Field (GCF) peak value at each frame. The visual reliability is based on colour-histogram matching with detection results compared with a reference image in the RGB space. Experiments on the AV16.3 dataset show that the proposed adaptive audio-visual tracker outperforms both the individual modalities and a classical approach with fixed parameters in terms of tracking accuracy.Qian, Xinyuan; Brutti, Alessio; Omologo, Maurizio; Cavallaro, AndreaQian, Xinyuan; Brutti, Alessio; Omologo, Maurizio; Cavallaro, Andre

Towards Natural Human Control and Navigation of Autonomous Wheelchairs

Approximately 2.2 million people in the United States depend on a wheelchair to assist with their mobility. Often times, the wheelchair user can maneuver around using a conventional joystick. Visually impaired or wheelchair patients with restricted hand mobility, such as stroke, arthritis, limb injury, Parkinson’s, cerebral palsy or multiple sclerosis, prevent them from using traditional joystick controls. The resulting mobility limitations force these patients to rely on caretakers to perform everyday tasks. This minimizes the independence of the wheelchair user. Modern day speech recognition systems can be used to enhance user experiences when using electronic devices. By expanding the motorized wheelchair control interface to include the detection of user speech commands, the independence is given back to the mobility impaired. A speech recognition interface was developed for a smart wheelchair. By integrating navigation commands with a map of the wheelchair’s surroundings, the wheelchair interface is more natural and intuitive to use. Complex speech patterns are interpreted for users to command the smart wheelchair to navigate to specified locations within the map. Pocketsphinx, a speech toolkit, is used to interpret the vocal commands. A language model and dictionary were generated based on a set of possible commands and locations supplied to the speech recognition interface. The commands fall under the categories of speed, directional, or destination commands. Speed commands modify the relative speed of the wheelchair. Directional commands modify the relative direction of the wheelchair. Destination commands require a known location on a map to navigate to. The completion of the speech input processer and the connection between wheelchair components via the Robot Operating System make map navigation possible

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved