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1 Consideration of the Head Movement Model for a Robot in Group Discussion Context Seiya Kimura 1 Hung-Hsuan Huang 2 Shogo Okada 3 Naoki Ohta 2 Kazuhiro Kuwabara College of Information Science and Engineering Ritsumeikan University 2 2 Graduate School of Information Science and Engineering Ritsumeikan University 3 3 School of Information Science Japan Advanced Institute of Science and Technology Abstract: 2 3 SVM(Support Vector Machine) F-Measure EU TARDIS 1 1 [5 6 3]
2 2 1 2 [13] 2D 3D / [2] [4 7] [1] [8] Schiavo [9] [11]
3 図 1: 実験環境 3.2 実験環境 実験参加者が 1.2m 1.2m の正方形のテーブルの 周りに座って議論を行う様子を 2 つのビデオカメラ と様々なセンサを使用して記録した 各参加者は 頭に 加速度センサー ATR-Promotions TSND121 とオー ディオデジタイザ Roland Sonar X1 LE に接続された ヘッドセットマイク Audio-Technica HYP-190H を 装着し ウェブカメラ Logicool C920 を 4 台使用し 各参加者の顔を撮影した また モーションキャプチャ OptiTrack Flex 3 with 8 台のカメラ と Microsoft Kinect センサーを使用して 参加者の上半身の動きを 記録した 記録実験の設定を図 1 に示す 実験の結果 15 分 10 グループ= 150 分間のグループディスカッ ションデータが記録された Praat1 による分析の結 果 このコーパスの統計情報は以下のようになった 各 セッションで平均 発話 最大 913 最小 570 標 準偏差 発声の長さは 秒 最大 10.6 最小 0.2 標準偏差 頭部動作モデル 行ったグループディスカッションデータ収集実験にお ける参加者の注目可能なターゲットは主に他の参加者 と配布した資料 (今回の実験では有名人リスト) とみな すことができる 各参加者の視点から見ると左側に座っ ている参加者 テーブルの反対側に座っている参加者 右側に座っている参加者の 3 人がいる それらの参加 者をそれぞれ left front right とし アテンション対 象として定義する また 資料がテーブル上に置かれ ており参加者の視線がテーブル方向に向いていた場合 テーブルを見ているのか資料を見ているのは判別が困 難であるため それらを一様に table として定義する これらの定義にアノテーションツール Elan [12] を使用 してビデオコーパスによってすべての参加者のアテン ション対象を手動でアノテーションを行った また ア ノテーションを行う者がアテンション対象を判断でき なかった場合のクラスである away を定義した 表 1 にアノテーションの結果を示す 結果から参加者は table へ最も頻繁かつ最も長くアテンションを向けてい ることが観察された これは参加者が議論をしている 間 有名人リストを見ている時間が長くなっていたこ とが要因としてあげられる また 他の参加者へ向け られたアテンションの中でもテーブルの反対側に座っ ている参加者へ頻繁にアテンションを向けいるが 左 右の参加者での明らかな違いは認められなかった そ して away クラスは他のクラスに比べてインスタンス 数がはるかに少ないという結果になった 表 1: 全参加者のアテンション対象ラベルデータ クラス 個数 平均継続時間 最大継続時間 最小継続時間 table 秒 359 秒 0.38 秒 front 秒 31 秒 0.18 秒 right 秒 30 秒 0.18 秒 left 秒 25 秒 0.11 秒 away 秒 4秒 0.10 秒 アテンション対象モデル この研究ではエージェントの視線方向や頭部の向き のとの全体的な組み合わせをアテンション対象として 扱う これは人工的なエージェントはアクチュエータ が人間と同じように機能しないことに起因する 特に ロボットの場合 人間よりも自由度がはるかに低く 人 間のようにスムーズに動く可動式の眼球もない その ため我々は詳細に人間の動きを模倣したものより よ り単純で抽象的かつ装置に依存しないアテンション対 象モデルの生成を今回の研究課題とした 今回我々が 頷き区間モデル 頷きはそれを行う者によって多様な表現方法があり 速さや角度などについても様々である また アテン ション対象モデルと同様のエージェントの自由度やス ムーズによる問題から頷き区間モデルにおいても装置 に依存しないモデルの生成を行う そのためこの頷き区 間モデルでは頷きの方法や速さ 角度に関わらずエー ジェントがグループディスカッションの中で頷きを行う
4 nod nomal Elan 2 2: nomal nod Speaking Listening Idling : 2 front me 5.2 ( ) 2 away left front right table t (A) x 5 15
5 t (t ) t (t ) (S) Praat x t (t ) t (t ) Speaking Listening Idling (P) Praat 12 3 x t (t ) t (t ) (t ) t (t ) t (t ) t (t ) t (t ) (B) x t (t ) 0.1 t (t ) t 0.1 (t ) 5.3 SVM Support Vector Machine 2 3 SVM C 0.5 1, RBF 0.001, C = 10.0 = 0.01 table front nomal nod Leave-one-person-out
6 Speaking Listening Idling B Speaking Listening Idling 3: Idling 1 10 F-measure( ) 4: Listening 1 10 F-measure( ) 5: Speaking 1 10 F-measure( ) Idling (B) 3 F-Measure F-Measure A S P B F-Measure F-Measure Precision Recall F-measure 3 table front 2 table front 2
7 3: ( ) A S P B Idling Listening Speaking Idling Listening Speaking : Idling 1 10 F-measure( ) 7: Listening 1 10 F-measure( ) 4: Precision Recall F-measure table front Idling right left table front Listening right left table front Speaking right left Listening>Idling>Speaking Speaking 5.4 8: Speaking 1 10 F-measure( )
8 9: F-measure 10: F-measure 5: Precision Recall F-measure nomal Idling nod nomal Listening nod nomal Speaking nod SVM F-Measure MFCC
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