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Human-robot interaction through real-time auditory and visual multiple-talker tracking

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5 Author(s)
Okuno, H.G. ; ERATO, Japan Sci. & Technol. Corp, Tokyo, Japan ; Nakadai, K. ; Hidai, K. ; Mizoguchi, H.
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Nakadai et al. (2001) have developed a real-time auditory and visual multiple-talker tracking technique. In this paper, this technique is applied to human-robot interaction including a receptionist robot and a companion robot at a party. The system includes face identification, speech recognition, focus-of-attention control, and sensorimotor task in tracking multiple talkers. The system is implemented on a upper-torso humanoid and the talker tracking is attained by distributed processing on three nodes connected by 100Base-TX network. The delay of tracking is 200 msec. Focus-of-attention is controlled by associating auditory and visual streams by using the sound source direction and talker position as a clue. Once an association is established, the humanoid keeps its face to the direction of the associated talker

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Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:3 )

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