论文标题
我也可以参加会议!朝着类似人类的远程敏感的阿凡达机器人代表您参加会议
I can attend a meeting too! Towards a human-like telepresence avatar robot to attend meeting on your behalf
论文作者
论文摘要
远程敏感机器人在各种用例中以各种形式使用,有助于避免在动作现场的身体人类存在。在这项工作中,我们专注于一个可以用来与一群人远程会议的远程机器人。与一对一的会议不同,小组会议的参与者可以位于房间的另一部分,尤其是在非正式的设置中。结果,所有这些都不是在机器人的视角,也不是遥控参与者。在这种情况下,为了提供更好的会议体验,机器人应定位说话者并将演讲者带到观看角度的中心。尽管可以使用麦克风阵列轻松完成声音源的定位,但是以视角将扬声器或扬声器组成并不是一件琐碎的任务。首先,机器人应该只对人的声音做出反应,而不是对随机噪音的反应。其次,如果有多个扬声器,机器人应该面对的人还是应该与每个新扬声器连续旋转?最后,大多数机器人平台都是资源受限的,为了实现实时响应,即避免网络延迟,应在机器人本身内实现所有算法。本文在关注方案中介绍了注意力转移计划的研究和实施,该方案最适合共处和远程与会者的需求和期望。我们定义了一项政策,以决定机器人何时应旋转以及根据实时发言人本地化的数量进行旋转。使用用户满意度研究,我们在会议方案中显示了系统的功效和可用性。此外,我们的系统很容易适应多个人所在的其他情况。
Telepresence robots are used in various forms in various use-cases that helps to avoid physical human presence at the scene of action. In this work, we focus on a telepresence robot that can be used to attend a meeting remotely with a group of people. Unlike a one-to-one meeting, participants in a group meeting can be located at a different part of the room, especially in an informal setup. As a result, all of them may not be at the viewing angle of the robot, a.k.a. the remote participant. In such a case, to provide a better meeting experience, the robot should localize the speaker and bring the speaker at the center of the viewing angle. Though sound source localization can easily be done using a microphone-array, bringing the speaker or set of speakers at the viewing angle is not a trivial task. First of all, the robot should react only to a human voice, but not to the random noises. Secondly, if there are multiple speakers, to whom the robot should face or should it rotate continuously with every new speaker? Lastly, most robotic platforms are resource-constrained and to achieve a real-time response, i.e., avoiding network delay, all the algorithms should be implemented within the robot itself. This article presents a study and implementation of an attention shifting scheme in a telepresence meeting scenario which best suits the needs and expectations of the collocated and remote attendees. We define a policy to decide when a robot should rotate and how much based on real-time speaker localization. Using user satisfaction study, we show the efficacy and usability of our system in the meeting scenario. Moreover, our system can be easily adapted to other scenarios where multiple people are located.