{"type":"ScholarlyArticle","title":"A Computational Model for the Alignment of Hierarchical Scene Representations in Human-Robot Interaction","authors":[{"name":"Agnes Swadzba","slug":"agnes-swadzba","given":"Agnes","family":"Swadzba","affiliation":""},{"name":"Sven Wachsmuth","slug":"sven-wachsmuth","given":"Sven","family":"Wachsmuth","affiliation":""},{"name":"Constanze Vorwerg","slug":"constanze-vorwerg","given":"Constanze","family":"Vorwerg","affiliation":""},{"name":"Gert Rickheit","slug":"gert-rickheit","given":"Gert","family":"Rickheit","affiliation":""}],"abstract":"The ultimate goal of human-robot interaction is to enable the robot to seamlessly communicate with a human in a natural human-like fashion. Most work in this field concentrates on the speech interpretation and gesture recognition side assuming that a propositional scene representation is available. Less work was dedicated to the extraction of relevant scene structures that underlies these propositions. As a consequence, most approaches are restricted to place recognition or simple table top settings and do not generalize to more complex room setups. In this paper, we propose a hierarchical spatial model that is empirically motivated from psycholinguistic studies. Using this model the robot is able to extract scene structures from a time-of-flight depth sensor and adjust its spatial scene representation by taking verbal statements about partial scene aspects into account. Without assuming any pre-known model of the specific room, we show that the system aligns its sensor-based room representation to a semantically meaningful representation typically used by the human descriptor.Agnes Swadzba, Constanze Vorwerg, Sven Wachsmuth, Gert Rickheit","doi":null,"url":"https://ijcai.org/proceedings/2009/308","pdf":"https://ijcai.org/proceedings/2009/0308.pdf","markdown":"https://ijcai.org/proceedings/2009/308.md","bibtex":"https://ijcai.org/proceedings/2009/bibtex/308","volume":{"slug":"2009","title":"Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2009","url":"https://ijcai.org/proceedings/2009/","year":2009,"location":"Pasadena, California, USA","dates":"","editors":"Hiroaki Kitano","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":308,"pages":{"first":1857,"last":1862},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}