iCub! 私の動作がわかりますか？：マルチセンサ対応iCubロボットによるマルチモーダル人間行動認識
iCub! Do you recognize what I am doing?: multimodal human action recognition on multisensory-enabled iCub robot
iCubロボットに搭載した3台のカラーカメラと1台の深度センサのマルチモーダルデータを統合し、人間の道具を使った行動を高精度に認識する手法を提案した。
著者: Kas Kniesmeijer, Murat Kirtay
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four different tools on 20 objects. We show that the proposed multimodal ensemble learning leverages complementary characteristics of three color cameras and one depth sensor that improves, in most cases, recognition accuracy compared to the models trained with a single modality. The results indicate that the proposed models can be deployed on the iCub robot that requires multimodal action recognition, including social tasks such as partner-specific adaptation, and contextual behavior understanding, to mention a few.
関連論文
- M2R2: 時系列行動セグメンテーションのためのマルチモーダルロボット表現マルチモーダル行動認識
