An RGB-D based social behavior interpretation system for a humanoid social robot

TitleAn RGB-D based social behavior interpretation system for a humanoid social robot
Publication TypeConference Proceedings
Year of Conference2014
AuthorsZaraki A, Giuliani M, Dehkordi MB, D'ursi A., De Rossi D
Conference NameRobotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Pagination185-190
Date PublishedOct/2014
Abstract
Humanoid social robots that interact with people need to be capable of interpreting the social behavior of their interaction partners in order to respond in a socially appropriate way. In this paper, we present a social behavior interpretation system that enables a humanoid robot to recognize human social behavior by analyzing communicative signals. The system receives the constructed RGB-D scene from a Kinect sensor, extracts information about body gesture and head pose from the scene using Microsoft Kinect SDK, and recognizes eight human social behaviors using a Hidden Markov Model (HMM). We trained the eight-state HMM with a corpus of 35 recorded human-human interaction scenes. The evaluation of the system shows a weighted average recognition rate of 81% for all states.

 

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6990898&isnumber=6990766
DOI10.1109/ICRoM.2014.6990898