Towards shared attention through geometric reasoning for Human Robot Interaction
Published 1 December 2009
Luis F. Marín-Urías, Emrah Akin Sisbot, Amit Kumar Pandey, Riichiro Tadakuma, Rachid Alami
Citations25
Generate an AI Snapshot to get a quick, structured summary of this paper.
Study Snapshot
ObjectiveStudy objective
MethodsResearch methodology
PopulationPopulation studied
Sample sizeSample sizes
OutcomesStudy outcomes here
ResultsStudy results comes here
LimitationsResearch study limitations comes here
A concise AI-generated summary of the paper will appear here once you click Generate AI Snapshot.
TL;DR
A geometric reasoning mechanism that employs psychological concepts of “perspective taking” and “mental rotation” in order to reason what the human sees, what the robot sees and where the robot should focus to share human's attention is presented.
Abstract
Human robot interaction brings new challenges to the geometric reasoning and space sharing. The robot should not only reason on its own capacities but also consider the actual situation by looking from human's eyes, thus ¿putting itself to human's perspective¿. In humans, the ¿visual perspective taking¿ ability begins to appear by 24 months of age and is used to determine if another person can see an object or not. In this paper, we present a geometric reasoning mechanism that employs psychological concepts of ¿perspective taking¿ and ¿mental rotation¿ in order to reason what the human sees, what the robot sees and where the robot should focus to share human's attention. This geometric reasoning mechanism is demonstrated with HRP-2 humanoid robot in a human-robot face-to-face interaction context.
Keywords
PsychologyEngineering
ACM Transactions on GraphicsProcedural modeling of buildings
945 Citations2006Pascal Müller, Peter Wonka +3 more
Visibility culling using hierarchical occlusion maps
343 Citations1997Hansong Zhang, Dinesh Manocha +2 more
HOM for visibility culling on complex models with high depth complexity uses an object space bounding volume hierarchy and a hierarchy of image space occlusion maps to cull away a portion of the model not visible from the current viewpoint.
IEEE Transactions on Systems Man and Cybernetics - Part A Systems and HumansEnabling Effective Human–Robot Interaction Using Perspective-Taking in Robots
303 Citations2005J. Gregory Trafton, Nicholas L. Cassimatis +4 more
A fully integrated system that instantiates the theoretical framework for performing perspective-taking and uses the same frames of references that astronauts do to facilitate collaborative problem solving with a person is shown.
Interaction Studies Social Behaviour and Communication in Biological and Artificial SystemsThe challenges of joint attention
219 Citations2006Frédé́ric Kaplan, Verena V. Hafner
Vision ResearchThe attentional field has a Mexican hat distribution
190 Citations2004Notger G. Müller, Maas Mollenhauer +2 more
The interference by distracter letters on target discrimination as a function of the distance between incompatible distracters and target is assessed to propose that perceptual capacities are determined by attentional response properties of V1.
IEEE Transactions on Industrial ElectronicsPhysical relation and expression: joint attention for human~robot interaction
172 Citations2003Michita Imai, Tetsuo Ono +1 more
Lecture notes in computer scienceImitation and Mechanisms of Joint Attention: A Developmental Structure for Building Social Skills on a Humanoid Robot
162 Citations1999Brian Scassellati
This chapter describes an on-going research program aimed at testing existing models of joint attention development by building a human-like robot which communicates naturally with humans using joint attention, and presents data from a face and eye finding system that serves as the basis of this developmental chain.
G/sup en/oM: a tool for the specification and the implementation of operating modules in a distributed robot architecture
157 Citations2002Sara Fleury, Matthieu Herrb +1 more
This paper presents a general methodology for the specification and the integration of functional modules in a distributed reactive robot architecture based on a hybrid architecture basically composed of two levels: a lower distributed functional level controlled by a centralized decisional level.
Robotics and Autonomous SystemsUsing perspective taking to learn from ambiguous demonstrations
117 Citations2006Cynthia Breazeal, Matt Berlin +3 more
This paper presents a system where the robot is modeled as a socially engaged and socially cognitive learner that is able to correctly learn from “flawed” demonstrations by taking the visual perspective of the human instructor to clarify potential ambiguities.
Influence of perspective-taking and mental rotation abilities in space teleoperation
85 Citations2007M. Alejandra Menchaca-Brandan, Andrew Liu +2 more
A virtual reality simulation of the Space Station Robotic Workstation is developed to investigate whether performance differences can be correlated with subjects' perspective- taking and mental rotation abilities and preliminary results show that both mental rotation strategies and perspective-taking strategies are used by the operator to move the robot arm around the workspace.
Perspective taking: an organizing principle for learning in human-robot interaction
75 Citations2006Matt Berlin, Jesse Gray +2 more
An integrated architecture wherein the robot's cognitive functionality is organized around the ability to understand the environment from the perspective of a social partner as well as its own, evaluating the performance of this architecture on a set of learning tasks.
International Journal of Advanced Robotic SystemsPerceptual Perspective Taking and Action Recognition
74 Citations2005Matthew Johnson, Yiannis Demiris
Simulation of visual perception is used to re-create the visual Egocentric sensory space and egocentric behaviour space of an observed agent, and through this increase the accuracy of action recognition.
Spatial reasoning for human robot interaction
59 Citations2007Emrah Akin Sisbot, Luis F. Marín-Urías +1 more
It is claimed that a human-aware motion system must not only elaborate safe robot motions, but also synthesize good, socially acceptable and legible movement to achieve motion and manipulation tasks in presence or in synergy with humans.
Computers in entertainmentRobot's play
57 Citations2004Andrëw G. Brööks, Jesse Gray +4 more
This work focuses on teaching the robot via playful interaction using natural social gesture and language and describes this in terms of two broad categories: teaching as play and teaching with play.
A Video Game-Based Mobile Robot Simulation Environment
24 Citations2006Josh Faust, Cheryl Simon +1 more
A robot simulation environment built from technologies typically used in computer video games, capable of simulating multiple robots, with realistic physics and rendering, and able to support human-controlled avatars using a traditional first-person interface is described.
IEEE Transactions on Visualization and Computer GraphicsvLOD: High-Fidelity Walkthrough of Large Virtual Environments
20 Citations2004Jatin Chhugani, Budirijanto Purnomo +5 more
A novel feature of this walkthrough system is that it performs work proportional only to the required detail in visible geometry at the rendering time, and uses a precomputation phase that efficiently generates per cell vLOD: the geometry visible from a view-region at the right level of detail.
Geometric Tools for Perspective Taking for HumanRobot Interaction
18 Citations2008Luis F. Marín-Urías, Emrah Akin Sisbot +1 more
A group of algorithms are proposed to evaluate and generate robot configurations that are not only collision free but also obeying HRI constraints by reasoning explicitly on human's perspective.
CogPrints (Cogprints)How does an infant acquire the ability of joint attention?: A Constructive Approach
16 Citations2003Yukie Nagai, Koh Hosoda +1 more
Third-Person Interactive Control of Humanoid with Real-Time Motion Planning Algorithm
6 Citations2006Shu-Wei Hsu, Tsai‐Yen Li
A novel approach to enhancing intelligent navigation interface with a third-person control mechanism that can generate collision-free motions for the upper-body of an avatar walking in a cluttered virtual environment is reported.
Development of the joint attention with a new face tracking method for multiple people
5 Citations2008Han‐Pang Huang, Jia‐Hong Chen +1 more
The proposed modified Multi-CAMSHIFT, MMC, was successfully applied to multiple faces tracking and the development of the joint attention and enabled the robot to efficiently acquire joint attention ability and to naturally interact with the human.