TY - GEN
T1 - Ambiguous command understanding with commonsense
AU - Ngo, Lam Trung
AU - Maeda, Yoshio
AU - Lee, Haeyeon
AU - Mizukawa, Makoto
PY - 2012/12/14
Y1 - 2012/12/14
N2 - This paper proposes our approach to disambiguate human pointing gesture by using commonsense knowledge. Pointing gesture is a natural way to specify the object that a user needs in the Bring something service. However, error in gesture recognition makes robot difficult to select the correct candidate object when there are multiple objects located closely together. To solve this problem, Robot Technology (RT) Ontology was used to make assumption about human activity and necessary objects for the activity. By combining this commonsense reasoning with the spatial constrain from human's pointing direction, robot is able to find appropriate object. Experiment showed the successful rate of object selection was improved, and therefore robotic service becomes more intuitive.
AB - This paper proposes our approach to disambiguate human pointing gesture by using commonsense knowledge. Pointing gesture is a natural way to specify the object that a user needs in the Bring something service. However, error in gesture recognition makes robot difficult to select the correct candidate object when there are multiple objects located closely together. To solve this problem, Robot Technology (RT) Ontology was used to make assumption about human activity and necessary objects for the activity. By combining this commonsense reasoning with the spatial constrain from human's pointing direction, robot is able to find appropriate object. Experiment showed the successful rate of object selection was improved, and therefore robotic service becomes more intuitive.
UR - http://www.scopus.com/inward/record.url?scp=84870854740&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84870854740&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2012.6343808
DO - 10.1109/ROMAN.2012.6343808
M3 - Conference contribution
AN - SCOPUS:84870854740
SN - 9781467346054
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 545
EP - 550
BT - 2012 IEEE RO-MAN
T2 - 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Y2 - 9 September 2012 through 13 September 2012
ER -