Towards shared attention through geometric reasoning for Human Robot Interaction

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.

Interactive Technologies for Autistic Children: A Review

“…In most of the cases, these environments are introduced through the means of software education platforms [Luneski et al, 2008], [Marnik and Szela, 2008]. To provide knowledge in an attractive way, these platforms use entertaining content in educational settings (edutainment).…”

“…The model developed by [Yucel et al, 2009] implements an effective model, which integrates image-processing algorithms into a robust estimation of the head pose and an estimation of the gaze direction. Other authors, such as [Marin-Urias et al, 2009], , [Sisbot et al, 2007] have focused on the capacity of shared attention in "mental rotation" and "perspective taking". These capabilities allow the humanoid robot HRP2 to acquire representations of the environment from other perspectives and to assimilate the concept of reason from the perspectives of others to obtain a representation of the knowledge of others.…”

Affordance graph: A framework to encode perspective taking and effort based affordances for day-to-day human-robot interaction

“…However, using [26] such reachability is further tested for execution if required, based on IK and feasibility of a collision free trajectory. Similarly, a pixel based visibility score is computed, if required, by using [20].…”

“…On the other hand, perspective taking-what others see, reach, do -is an important aspect of social interaction, [16], [17], [18], [19], [20]. Hence, perceiving the self-centered affordances are not sufficient, the robot should also be able to perceive the affordances from the other agents' perspectives.…”

Will I bother here? - A robot anticipating its influence on pedestrian walking comfort

“…A series of studies revealed the importance of (spatial) perspectivetaking [10][11][12], in which a robot considers a human user's viewpoint for efficient cooperation. In our study, we deal with the perspective of pedestrian regarding to walking comfort.…”