Situated Dialogue and Spatial Organization: What, Where... and Why?

Geert-Jan M. Kruijff, Hendrik Zender, Patric Jensfelt and Henrik I. Christensen

Abstract:

The paper presents an HRI architecture for human-augmented mapping. Through interaction with a human, the robot can augment its autonomously learnt metric map with qualitative information about locations and objects in the environment. The system implements various interaction strategies observed in independent Wizard-of-Oz studies. The paper discusses an ontology-based approach to representing and inferring a 2.5-dimensional spatial organization, and how knowledge of spatial organization can be acquired autonomously or through spoken dialogue interaction. Dialogue processing provides rich semantic representations of the meaning expressed by an utterance, making it possible to combine the conveyed description with inferences over ontologies modeling commonsense knowledge about indoor environments. The resulting conceptual descriptions are then used to represent qualitative knowledge about locations in the environment.

BibTeX Entry:

@Article{Kruiff07a,
  author =       {Geert-Jan M. Kruijff and Hendrik Zender and Patric Jensfelt and Henrik I. Christensen},
  title =        {Situated Dialogue and Spatial Organization: What, Where\ldots and Why?},
  journal =      {International Journal of Advanced Robotic Systems},
  year =         2007,
  volume =       4,
  number =       2
}

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