Robust acquisition and recognition of spoken location names by domestic robots

摘要

This paper presents a method that enables a conversational domestic robot to learn location names through speech interaction. Each acquired name is associated with a point on the map coordinate system of the robot. Both for acquisition and recognition of location names, a bag- of-words-based categorization technique is used. Namely, the robot acquires a location name as a frequency pattern of words, and recognizes a spoken location name by computing similarity between the patterns. This makes the robot robust not only against speech recognition errors but also against out- of-vocabulary names. We designed a dialogue and behavior management subsystem that learns location names by using our proposed method and navigates to indicated locations, and implemented the subsystem on an omnidirectional cart robot. The result of a preliminary evaluation of the implemented robot with human subjects suggested this approach is promising.