Using Spatial Language in a HumanRobot Dialog在人类机器人对话中使用空间语言.pptVIP

A Sketch Interface for Mobile Robots Marjorie Skubic Craig Bailey George Chronis Computational Intelligence Research Lab University of Missouri-Columbia Outline Motivation and context Route maps The PDA sketch interface Experimental study and results Conclusions and future work Route Maps Tversky’s work Depictions vs. Descriptions Extraction of route descriptions 1 to 1 correlation Michon and Denis Landmarks and critical nodes The Sketch Interface Objects Closed Polygons Any shape or size Thresholds to determine gap closure Feedback on recognition Sound Color Labels Default numbering for object labels Tap on screen to edit Can use Palm OS Graffiti recognition or a software keyboard Paths Limit of one A minimum length required Color Feedback Path Direction Default direction is the direction the path is drawn User can specify the direction with a sketched “blob” to denote the start of the path Recognized by Number of points Average distance of all points Proximity to path endpoint Delete An intuitive delete: cross out an object Recognized by Two consecutive strokes Both lengths shorter than a path The strokes cross Color feedback Search for closest object or path Determining Crossed Marks Use the slope equations of lines Endpoints of strokes determine the line A pair of decision parameters can be computed If both parameters lie between 0 and 1, then the two strokes must have an intersection Menu Commands “Digitizing” the Sketch User Evaluation Tested how well the interface performed with real users Pre-experimental questionnaire Tasks Sketch tasks Re-sketch tasks Task scores Post-experimental questionnaire Questionnaires contain Lickert style statements (Lickert, 1932) along with several open-ended questions Statistical Analysis 2 groups, 2 scenes: Compared by scene sketched Compared by course level of participant Means compared with the t test Null Hypothesis: there are no differences when compared by sketched scene or course level Participants 26 students f