Robot Confirmation Behavior to Improve Object Reference Recognition

原稿受付 2016 年 11 月 8 日 ∗1ATR 知能ロボティクス研究所 ∗2同志社大学 ∗3大阪大学 ∗1ATR Intellijent Robotics and Communication Laboratories ∗2Doshisha University ∗3Osaka University 本論文は新規性(システム設計・構築分野)で評価されました. ように,指示物体認識手法に関する過去の研究では,複数のセ ンサから得られる情報の統合や,各種センサデータに対する新 しいアルゴリズムの提案などの,認識技術の改良による性能向 上が行われてきた.ただし,語彙の多様性や曖昧性のために [4], 認識技術の改良のみでは,人が指示した物体を正しく認識でき ない状況も多く存在する.人は,物体を一意に特定するのに十 分な量の語句を利用した指示を行うとは限らず [5],また多様で 曖昧な語彙を利用することから,必ずしもシステムが保持する 物体の特徴を表す語彙,すなわち音声認識用の単語辞書に含ま れる語彙を利用した指示を行うとは限らないためである.

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