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A fuzzy system for visual detection of interest in human-robot interaction

A fuzzy system for visual detection of interest in human-robot interaction,Rafael Munoz-Salinas,Eugenio Aguirre,Miguel Garc,Antonio Gonzalez

A fuzzy system for visual detection of interest in human-robot interaction   (Citations: 1)
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The development of natural human-robot interfaces is necessary to achieve intelligent robots applied to servi ce tasks in environments where humans operate. In that sense, a very useful capability for a robot is to be able to detect the interest tha t the people in the environment have to interact with it. This knowledge can be used to establish a more natural communication with humans as well as to create an appropriate policy for the assignment of the available resources. In this paper, it is p roposed a fuzzy system that establishes a level of possibility about the degree of interest that the people around the robot have in interacting with it. First, a method to detect and track persons using stereo vision is proposed. The method uses a height map of the environment and a face detector besides the Kalman filt er to detect and track the persons in the surroundings of the robot. Then, the interest of each person is computed using fuzzy logic by analyzing its position and its level of attention to the robo t. The level of attention is estimated by analyzing if the person is looking or not at the robot. Although the proposed system is based only on visual information, its modularity and the use of the fuzzy logic make easy the incorporation in the future of other sources information to estimate with higher precision the interest of the people. At the end of the paper, some experiments are shown that validate the proposal and future work is addressed.
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