Knowledge based image and speech analysis for service robots

摘要

Active visual based scene exploration as well as speech understanding and dialogue are important skills of a service robot which is employed in natural environments and has to interact with humans. In this paper we suggest a knowledge based approach for both scene exploration and spoken dialogue using semantic networks. For scene exploration the knowledge base contains information about camera movements and objects. In the dialogue system the knowledge base contains information about the individual dialogue steps as well as about syntax and semantics of utterances. In order to make use of the knowledge, an iterative control algorithm which has real-time and any-time capabilities is applied. In addition, we propose appearance based object models which can substitute the object models represented in the knowledge base for scene exploration. We show the applicability of the approach for exploration of office scenes and for spoken dialogues in the experiments. The integration of the multi-sensory input can easily be done, since the knowledge about both application domains is represented using the same network formalism.