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Publications associées (14)

TPT-Bench: A large-scale, long-term and robot-egocentric dataset for benchmarking target person tracking

Tracking a target person from robot-egocentric views is crucial for developing autonomous robots that provide continuous personalized assistance or collaboration in human–robot interaction (HRI) and Embodied AI. However, most existing target person tracking (TPT) benchmarks are limited to controlled laboratory environments with few distractions, clean backgrounds, and short-term occlusions. In this paper, we introduce a large-scale dataset designed for TPT in crowded and unstructured environments, demonstra

SAGE Publications2026

Head Nod Detection from a Full 3D Model

As a non-verbal communication mean, head gestures play an important role in face-to-face conversation and recognizing them is therefore of high value for social behavior analysis or Human Robotic Interactions (HRI) modelling. Among the various gestures, head nod is the most common one and can convey agreement or emphasis. In this paper, we propose a novel nod detection approach based on a full 3D face centered rotation model. Compared to previous approaches, we make two contributions. Firstly, the head rota

2015

Autonomous Navigation and Security: A 13 000h/3 000km Case Study

Roland Siegwart, Nicola Tomatis, Ralph Piguet, Grégoire Terrien

This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo.02 (Swiss National Exhibition) from May 15 to October 20. This project has been conjointly conducted by the Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL) and BlueBotics SA the spin-off company of the lab, which has produced

2004

Bayesian Networks Based Signal Fusion for User Goal Identification in Human-Robot Dialogues

In this paper, we introduce probabilistic framework for robust identification of the user goals in human-robot speech-based interaction. The concept of Bayesian networks is used for interpreting multimodal signals in the spoken dialogue between a tour-guide robot and visitors in mass exhibition conditions. In particular, we report on experiments interpreting speech and laser scanner signals in the dialogue management system of the autonomous tour-guide robot RoboX, successfully deployed at the Swiss Nationa

2004

Bayesian Networks for Error Handling through Multimodality Fusion in Spoken Dialogues with Mobile Robots

In this paper, we introduce Bayesian networks architecture for combining speech-based information with that from another modality for error handling in human-robot dialogue system. In particular, we report on experiments interpreting speech and laser scanner signals in the dialogue management system of the autonomous tour-guide robot RoboX, successfully deployed at the Swiss National Exhibition (Expo.02). A correct interpretation of the user s (visitor s) goal or intention at each dialogue state under the u

2004

"May You Have a Strong (-Typed) Foundation", Why Strong-Typed Programming Languages Do Matter

Roland Siegwart, Nicola Tomatis

Programming efficient and reliable code can be considered a non-trivial task, as it requires deep understanding of the problem to be solved along with good programming skills. However, software frameworks and programming paradigms can provide a dependable infrastructure upon which better programs can be written and deployed. This allows engineers to focus mainly on their task, while relying on the underlying run-time environment for taking care of low-level programming issues, such as memory allocation and

2004

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Roland Siegwart, Roland Philippsen

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulatio

2003

Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot

Roland Siegwart, Nicola Tomatis, Kai Oliver Arras, Björn Jensen, Roland Philippsen

This paper presents the genesis of a tour guide robot, which has been built from the scratch based on the experience of the Autonomous Systems Lab. The production of 11 of those machines has been realized by a spin-off of the lab: BlueBotics SA. The goal was to maximize the autonomy and interactivity of the mobile platform while ensuring high robustness, security and performance. The result is an interactive moving machine named RoboX. RoboX can operate in human environments and interacts by seeing humans,

2003

On developing a voice-enabled interface for interactive tour-guide robots

Roland Siegwart, Andrzej Drygajlo, Guy Ramel, Mathieu Meisser

This paper considers design methodologies in order to develop voice-enabled interfaces for tour-guide robots deployed at the Robotics Exposition of the Swiss National Exhibition (Expo.02). Human–robot voice communication presents new challenges for design of fully autonomous mobile robots, in that interactivity must be robot-initiated in conversation and within a dynamic adverse environment.We approached these general problems for a voice-enabledinterface, tailored to limited computational resources of one

2003

Designing a Secure and Robust Mobile Interacting Robot for the Long Term

Roland Siegwart, Nicola Tomatis, Kai Oliver Arras, Ralph Piguet, Grégoire Terrien

This paper presents the genesis of RoboX. This tour guide robot has been built from the scratch based on the experience of the Autonomous Systems Lab. The production of 11 of those machines has been realized by a spin-off of the lab: BlueBotics SA. The goal was to maximize the autonomy and interactivity of the mobile platform while ensuring high robustness, security and performance. The result is an interactive moving machine which can operate in human environments and interacts by seeing humans, talking to

2003

Bayesian networks for spoken dialogue management in multimodal systems of tour-guide robots

In this paper, we propose a method based on Bayesian networks for interpretation of multimodal signals used in the spoken dialogue between a tour-guide robot and visitors in mass exhibition conditions. We report on experiments interpreting speech and laser scanner signals in the dialogue management system of the autonomous tour-guide robot RoboX, successfully deployed at the Swiss National Exhibition (Expo.02). A correct interpretation of a user s (visitor s) goal or intention at each dialogue state is a ke

2003

Multimodal Interaction Management for Tour-Guide Robots Using Bayesian Networks

In this paper, we propose a Bayesian network framework for managing interactivity between a tour-guide robot and visitors in mass exhibition conditions, through robust interpretation of multi-modal signals. We report on methods and experiments interpreting speech and laser scanner signals in the spoken dialogue management system of the autonomous tour-guide robot RoboX, successfully deployed at the Swiss National Exhibition (Expo.02). A correct interpretation of a user s (visitor s) goal or intention at eac

2003

Voice Enabled Interface for Interactive Tour Guide Robots

Roland Siegwart, Guy Ramel, Mathieu Meisser

This paper considers design methodologies in order to develop voice-enabled interfaces for tour-guide robots to be deployed at the Robotics Exposition of the Swiss National Exhibition (Expo.02). Human-robot voice communication presents new challenges for design of fully autonomous mobile robots, in that interactivity must be robot-initiated in conversation and within a dynamic adverse environment. We approached these general problems for a voice enabled interface, tailored to limited computational resources

2002

The interactive autonomous mobile system RoboX

Roland Siegwart, Björn Jensen, Guy Ramel, Mathieu Meisser, Antoine Lorotte, Gilles Froidevaux, Laetitia Mayor, Xavier Greppin

In this paper we present an autonomous mobile robot system allowing for complex collaborative interaction with non-experienced users while giving a pre-programmed tour of a public exposition. For this several modalities of man-machine communication are used simultaneously. To ensure secure and reliable operation we present a layered development approach centered on the programming system SOUL. At the Swiss National Exhibition Expo.02, ten RoboX systems will interact with hundreds of visitors per day, during

2002

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Publications associées (14)