Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Interaction Intent Analysis of Multiple Persons using Nonverbal Behavior Features

인간의 비언어적 행동 특징을 이용한 다중 사용자의 상호작용 의도 분석

  • Yun, Sang-Seok (Center for Intelligent Robotics, Korea Institute of Science and Technology) ;
  • Kim, Munsang (Center for Intelligent Robotics, Korea Institute of Science and Technology) ;
  • Choi, Mun-Taek (Mechanical Engineering, Sungkyunkwan University) ;
  • Song, Jae-Bok (Mechanical Engineering, Korea University)
  • 윤상석 (한국과학기술연구원 지능로봇 사업단) ;
  • 김문상 (한국과학기술연구원 지능로봇 사업단) ;
  • 최문택 (성균관대학교 기계공학부) ;
  • 송재복 (고려대학교 기계공학부)
  • Received : 2013.03.08
  • Accepted : 2013.06.19
  • Published : 2013.08.01
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Abstract

According to the cognitive science research, the interaction intent of humans can be estimated through an analysis of the representing behaviors. This paper proposes a novel methodology for reliable intention analysis of humans by applying this approach. To identify the intention, 8 behavioral features are extracted from the 4 characteristics in human-human interaction and we outline a set of core components for nonverbal behavior of humans. These nonverbal behaviors are associated with various recognition modules including multimodal sensors which have each modality with localizing sound source of the speaker in the audition part, recognizing frontal face and facial expression in the vision part, and estimating human trajectories, body pose and leaning, and hand gesture in the spatial part. As a post-processing step, temporal confidential reasoning is utilized to improve the recognition performance and integrated human model is utilized to quantitatively classify the intention from multi-dimensional cues by applying the weight factor. Thus, interactive robots can make informed engagement decision to effectively interact with multiple persons. Experimental results show that the proposed scheme works successfully between human users and a robot in human-robot interaction.

Keywords

References

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