ICS-01B-xxxx
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1 CS-01B-762 Learning Environment with Speech and mage Understanding 255
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4 EV-D Pioneer
5 - Abstract There is a growing demand for robots working in our living environment. Such robots should be adapted to each user's environment easily. This paper proposes a learning-based method using speech and vision, to solve this problem. n early stages, we need to control the robot to reach target objects by motion commands through speech. Later, however, we can move it just by uttering the object name, since it has learned the positions by vision detecting the landmarks in the environment. Experimental results using a prototype robot confirm the usefulness of the method. 5
6 1 1.1 SONY ABO NEC R
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15 15 Red Green Blue Hue Saturation ntensity [9][13] [9] }),, min{ },,, max{ ( 2 ) / min max min max B G R B G R = = + = (2) min max min max = ) ) /(2 ( 0.5 ) ) /( ( 0.5 min max min max min max min max S S = > + = (3) r g b ) ) /( ( ) ) /( ( ) ) /( ( min max max min max max min max max B b G g R r = = = (4) ) (4 3 ) (2 3 ) ( 3 max max max r g H B g r H G g b H R + = = + = = = = π π π (5)
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17 画像情報 カメラから取得 応答 画像処理モジュール 人 応答 ( 音声 ) マイクから取得 依頼 音声処理モジュール 探索命令 誘導命令 応答 カメラ向き情報 検索 検索結果 移動命令 ロボット操作モジュール 地図情報モジュール ロボット移動 ロボット BM Via Voice SDK for Windows Via Voice SDK Visual Basic ActiveX ActiveX 17
18 4 音声入力を受け取る 入力をテキストに変換 (VVEngine,VVRichEdit) 誘導モードか? Yes No No 語句をテキストから抜き出す 依頼文が完成したか? Yes 確認メッセージ発行 移動命令をテキストから抜き出す ロボット操作モジュールに命令を送る No 依頼文が確定したか? Yes 移動場所が既知か? Yes 画像処理モジュールに処理を移す No 音声による誘導モードに変更 5 18
19 Via Voice SDK VVRichEdit VVEngine Visual Basic nstr For i = 1 To Num_of_Object Checker = nstr(nput_text.text, MObject(i)) f Checker > 0 Then : Exit For End f Next i nput.text: Mobject: nstr(a,b) B A
20 SONY EV-D30 6 EV EV-D30 D
21 探索要求を受け取る カメラの移動要求された色を検出 伸縮 膨張処理領域抽出 対象領域を視野の中心へ持ってくる ランドマーク 何を探索? 依頼された物体 カメラ角度を得る 探索成功のメッセージを発行 地図情報モジュールへ送る 音声処理モジュールへ送る (2) (5) (2) (5) Visual C++ DLL #define HLSMAX 252 : : max = max( max(b,g),r); min = min( min(b,g),r); intensity = (((max+min)*hlsmax) + HLSMAX)/(2*HLSMAX); if (max == min){ saturation = 0; hue = 0; } else{ if (intensity <= (HLSMAX/2)) 21
22 saturation = (((max-min)*hlsmax) + ((max+min)/2)) / (max+min); else saturation = (((max-min)*hlsmax) + ((2*RGBMAX-max-min)/2)) /(2*RGBMAX-max-min); r = ( ((max-r)*(hlsmax/6)) + ((max-min)/2) ) / (max-min); g = ( ((max-g)*(hlsmax/6)) + ((max-min)/2) ) / (max-min); b = ( ((max-b)*(hlsmax/6)) + ((max-min)/2) ) / (max-min); if (R == max) hue = b - g; else if (G == max) hue = (HLSMAX/3) + r - b; else hue = ((2*HLSMAX)/3) + g - r; if (hue < 0) hue += HLSMAX; if (hue > HLSMAX) hue -= HLSMAX; } hue = (long)((hue*180/hlsmax));
23 M1 M2 M3 M4 P M5 M6 M7 M8 P = min( M1, M 2, M 3, M 4, M 5, M 6, M 7, M 8) (5) P = max( M1, M 2, M 3, M 4, M 5, M 6, M 7, M 8) (6) 9 [10] 23
24 カメラ向き情報を受け取る 室内での位置を求める 誘導モード 現在のモードは? 移動先既知 現在位置をファイルに書き込む ( 学習 ) 目的地への移動距離 移動方向を求める ロボット操作モジュールへ送る 11 24
25 cm x y
26 2.3.4 ActivMEDA Pioneer 2 13 Pioneer 2 Saphira Visual C++ 13 Pioneer sfconnecttorobot sfdisconnectfromrobot sfsetvelocity [mm/s] sfsetdheading [dec] sfsetposition [mm] sfpause [ms] sfoccbox sfoccbox 14 26
27 対象領域 基準点 ( 引数で指定 ) ロボット 14 27
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29 人がロボットに音声で依頼 ロボットが命令を受け取り 必要情報を抜き出す 必要な情報がそろったか? Yes 受け取った色情報をもとにロボットが画像処理 No 足りない情報を求めるメッセージを発行 人が音声で不足情報を送る 検出できたか? Yes 検出領域が視界中央に来るように向き変更 No 検出失敗のメッセージを発行 検出物体の側まで移動 検出 移動終了のメッセージを発行 { } { } { } 29
30 { } { } { } { }
31 [cm] [cm] [dec] [cm][dec]
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33 対話によって依頼文確定 ロボットは記憶地図中を検索するが いまだ学習していない場所であることを知る 誘導を求めるメッセージを発行 人が声によって方向を指示 指示にしたがってロボットが移動 No 場所確定の指示がきたか? Yes ランドマーク認識により現在位置を特定 現在地を目的地として学習 学習完了メッセージを発行 { } 33
34 { } { } { } { } { } { }
35 対話によって依頼文確定 記憶地図から 目的地の座標を特定 ランドマーク認識によって現在位置特定 目的地までの方向 向きを計算 計算結果を元にロボットが移動 移動完了メッセージを発行
36 { } { } { } { } { } { } { } 22 36
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38 cm 1cm 20cm
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42 [1] U.Ahlrichs,J.Fischer,J.Denzler,Chr.Drexler,H.Niemann,E.Noth,D.Paulus: Knowledge Based mage and Speech Analysis for Service Robots, NTEGRATON OF SPEECH AND MAGE UNDERSTANDNG, pages 21-47,(September 1999). [2] Christos.Colios, Panos E.Trahanias: Landmark dentification Based on Projective and Permutation nvariant Vectors, EEE Computer Society, 15 th CPR, Pages ,(September 2000). [3] Nobuyuki Kita: Visual Attention Control for Nuclear Power Plant nspection, EEE Computer Society, 15th CPR, pages , (September 2000). [4] A.J.Davison, Nobuyuki Kita:, vol.1, pages , (1999). [5],,,,:, -, pages ,(March,2000). [6] CHONG SHENG SHEN, Yoshiaki Shirai, Yoshinori Kuno, Jun Miura, Nobutaka Shimada:,,(February,2000) [7], :, vol.j79-d- No.12, pages , (December,1996). [8],, :, vol.j79-d- No.12, pages (December,1996). [9], :,,(1991) [10], :,, (1998) [11] :,, (1980) [12] :,, (1987) [13],, : - -,, (1998) 42
ICS-01M-xxxx
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