RT Journal Article
T1 Audio-Visual Perception System for a Humanoid Robotic Head.
A1 Viciana-Abad, Raquel
A1 Marfil-Robles, Rebeca
A1 Pérez-Lorenzo, José Manuel
A1 Bandera-Rubio, Juan Pedro
A1 Romero-Garcés, Adrián
A1 Reche-López, Pedro
K1 Interacción hombre-ordenador
K1 Visión artificial (Robótica)
K1 Detectores
K1 Percepción auditiva
AB One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.
PB MDPI
SN 1424-8220
YR 2014
FD 2014-05-28
LK https://hdl.handle.net/10630/34251
UL https://hdl.handle.net/10630/34251
LA eng
NO Viciana-Abad, R., Marfil, R., Perez-Lorenzo, J.M., Bandera, J.P., Romero-Garces, A., Reche-Lopez, P. AUDIO-VISUAL PERCEPTION SYSTEM FOR A HUMANOID ROBOTIC HEAD Sensors (Switzerland), 2014, 14(6), pp. 9522–9545
NO This work has been partially granted by the Science and Innovation Department of the Spanish Government under Project No. TIN2012-38079-C03-03 and by the University of Jaén and Caja Rural de Jaén (Spain) under Project No. UJA2013/08/44.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026