Human-robot interaction with multi-human social pattern inference on a multi-modal robot

To enable service robots enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, some nonverbal social signals are fast detected in social environments. Then, robot can find the spatial social patterns of human users. Those patterns are indicated to human-to-human, human-to-robot or multi-human-to-robot interaction. Experimental results shows that our robot successfully find the aforementioned users' social patterns.