The paper describes a multimodal scheme for humanrobot interaction suited for a wide range of intelligent service robot applications. Operating in unengineered, cluttered, and crowded environments, such robots have to be able to actively contact potential users in their surroundings and to oer their services in an appropriate manner. Starting from a real application scenario, the usage of a robot as mobile information kiosk in a home store, some reliable methods for vision-based interaction, noise analysis and speech output have been developed. These methods are integrated into a prototypical interaction cycle that can be assumed as a general approach to human-machine interaction. Experimental results demonstrate the strengths and weaknesses of the proposed methods.
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