Towards Deep Reasoning on Social Rules for Socially Aware Navigation

摘要

This work presents ideation and preliminary results of using contextual information and information of the objects present in the scene to query applicable social navigation rules for the sensed context. Prior work in socially-Aware Navigation (SAN) shows its importance in human-robot interaction as it improves the interaction quality, safety and comfort of the interacting partner. In this work, we are interested in automatic detection of social rules in SAN and we present three major components of our method, namely: a Convolutional Neural Network-based context classifier that can autonomously perceive contextual information using camera input; a YOLO-based object detection to localize objects with a scene; and a knowledge base of social rules relationships with the concepts to query them using both contextual and detected objects in the scene. Our preliminary results suggest that our approach can observe an on-going interaction, given an image input, and use that information to query the social navigation rules required in that particular context.