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1 LAAS-RAP - Équipe Robotique, Action et Perception LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse 2 UPS - Université Paul Sabatier - Toulouse 3 3 IRIT - Institut de recherche en informatique de Toulouse 4 Laboratoire de Gérontechnologie La Grave - CHU de Toulouse - Gérontopôle - UMR 1027 Inserm Université Paul Sabathier Toulouse III

Abstract : In this paper, we present a multi-modal perception based framework to realize a non-intrusive domestic assistive robotic system. It is non-intrusive in that it only starts interaction with a user when it detects the user-s intention to do so. All the robot-s actions are based on multi-modal perceptions which include user detection based on RGB-D data, user-s intention-for-interaction detection with RGB-D and audio data, and communication via user distance mediated speech recognition. The utilization of multi-modal cues in different parts of the robotic activity paves the way to successful robotic runs 94% success rate. Each presented perceptual component is systematically evaluated using appropriate dataset and evaluation metrics. Finally the complete system is fully integrated on the PR2 robotic platform and validated through system sanity check runs and user studies with the help of 17 volunteer elderly participants.

Keywords : Intention Detection Elderly Care Assistive Technology Robotic Perception Multi-modal Data Fusion Human-Robot Interaction





Author: Christophe Mollaret - Alhayat Ali Mekonnen - Frédéric Lerasle - I Ferrané - J Pinquier - B Boudet - P Rumeau -

Source: https://hal.archives-ouvertes.fr/



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