论文标题
VGPN：语音引导指向人类的机器人导航
VGPN: Voice-Guided Pointing Robot Navigation for Humans
论文作者
论文摘要
如今，指向手势已被广泛用于机器人导航应用程序。但是，大多数方法仅使用点式手势，这些手势具有两个主要局限性。首先，他们需要一直识别指向手势，这导致了很长的处理时间和大量的系统开销。其次，用户的指向方向可能不是很准确，因此机器人可能会进入不希望的地方。为了缓解这些限制，我们提出了一种名为VGPN的语音指向机器人导航方法，并在轮式机器人上实现其原型，Turtlebot 2。VGPN仅在语音信息不足以实现导航时才能识别指向姿势。 VGPN还使用语音信息作为补充渠道，以帮助确定用户指向手势的目标位置。在评估中，我们将VGPN与仅指向的导航方法进行了比较。结果表明，在指出手势时，VGPN有效地减少了处理时间的时间，并提高了对导航准确性的使用者满意。
Pointing gestures are widely used in robot navigationapproaches nowadays. However, most approaches only use point-ing gestures, and these have two major limitations. Firstly, they need to recognize pointing gestures all the time, which leads to long processing time and significant system overheads. Secondly,the user's pointing direction may not be very accurate, so the robot may go to an undesired place. To relieve these limitations,we propose a voice-guided pointing robot navigation approach named VGPN, and implement its prototype on a wheeled robot,TurtleBot 2. VGPN recognizes a pointing gesture only if voice information is insufficient for navigation. VGPN also uses voice information as a supplementary channel to help determine the target position of the user's pointing gesture. In the evaluation,we compare VGPN to the pointing-only navigation approach. The results show that VGPN effectively reduces the processing timecost when pointing gesture is unnecessary, and improves the usersatisfaction with navigation accuracy.
