Context-based intent understanding using an Activation Spreading architecture
Mohammad Taghi Saffar, Mircea Nicolescu, Monica Nicolescu, Banafsheh Rekabdar
Abstract
In this paper, we propose a new approach for recognizing intentions of humans by observing their activities with an RGB-D camera. Activities and goals are modeled as a distributed network of inter-connected nodes in an Activation Spreading Network (ASN). Inspired by a formalism in hierarchical task networks, the structure of the network captures the hierarchical relationship between high-level goals and low-level activities that realize these goals. Our approach can detect intentions before they are realized and it can work in real-time. We also extend the formalism of ASNs to incorporate contextual information into intent recognition. A fully functioning system is developed for experimental evaluation. We implemented a robotic system that uses our intent recognition to naturally interact with the user. Our ASN based intent recognizer is tested against two different scenarios involving everyday activities performed by a subject, and our results show that the proposed approach is able to detect low-level activities and recognize high-level intentions effectively in real-time. Further analysis shows that contextual ASN is able to discriminate between otherwise ambiguous goals.
BibTeX
@inproceedings{iros2015_contextbasedinte,
title = {Context-based intent understanding using an Activation Spreading architecture},
author = {Mohammad Taghi Saffar and Mircea Nicolescu and Monica Nicolescu and Banafsheh Rekabdar},
booktitle = {IROS 2015},
year = {2015}
}