Command recognition device, command recognition method, and command recognition robot
First Claim
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1. A command recognition device comprising:
- an utterance understanding unit that determines or selects word sequence information from speech information;
speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information;
a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information;
an image analysis unit that calculates a trajectory-of-motion of an object from the image information, wherein the trajectory of motion is calculated based on time-series data of position coordinates of a trajectory in a motion of an object, where the position coordinates are variable in time; and
a motion control instructing unit that determines whether a command of the word sequence information is to be executed based on a command estimation value which is calculated using the degree of speech confidence and the degree of phrase confidence,wherein the phrase confidence degree calculating unit calculates a degree of motion confidence representing the confidence that the trajectory-of-motion comprises a motion of the phrase information as the degree of phrase confidence.
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Abstract
A command recognition device includes: an utterance understanding unit that determines or selects word sequence information from speech information; speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information; a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information; and a motion control instructing unit that determines whether a command of the word sequence information should be executed based on the degree of speech confidence and the degree of phrase confidence.
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Citations
7 Claims
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1. A command recognition device comprising:
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an utterance understanding unit that determines or selects word sequence information from speech information; speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information; a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information; an image analysis unit that calculates a trajectory-of-motion of an object from the image information, wherein the trajectory of motion is calculated based on time-series data of position coordinates of a trajectory in a motion of an object, where the position coordinates are variable in time; and a motion control instructing unit that determines whether a command of the word sequence information is to be executed based on a command estimation value which is calculated using the degree of speech confidence and the degree of phrase confidence, wherein the phrase confidence degree calculating unit calculates a degree of motion confidence representing the confidence that the trajectory-of-motion comprises a motion of the phrase information as the degree of phrase confidence. - View Dependent Claims (2, 3, 4, 5)
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6. A command recognition method in a command recognition device, comprising:
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a first step of causing the command recognition device to determine or select word sequence information from speech information; a second step of causing the command recognition device to calculate degree of speech confidence based on the speech information and the word sequence information; a third step of causing the command recognition device to calculate a degree of phrase confidence based on image information and phrase information included in the word sequence information; and a fourth step of causing the command recognition device to determine whether a command of the word sequence information should be executed based on a command estimation value calculated using the degree of speech confidence and the degree of phrase confidence, wherein, in the third step, a trajectory-of-motion of an object is calculated from the image information, the trajectory of motion being calculated based on time-series data of position coordinates of a trajectory in a motion of an object, where the position coordinates are variable in time, and a degree of motion confidence representing the confidence that the trajectory-of-motion comprises a motion of the phrase information is calculated as the degree of phrase confidence.
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7. A command recognition robot comprising:
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an utterance understanding unit that determines or selects word sequence information from speech information; speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information; a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information; an image analysis unit that calculates a trajectory-of-motion of an object from the image information, wherein the trajectory of motion is calculated based on time-series data of position coordinates of a trajectory in a motion of an object, where the position coordinates are variable in time; a motion control instructing unit that determines whether a command of the word sequence information should be executed based on a command estimation value which is calculated using the degree of speech confidence and the degree of phrase confidence; and a motion mechanism unit that executes the command based on the word sequence information, wherein the phrase confidence degree calculating unit calculates a degree of motion confidence representing the confidence that the trajectory-of-motion comprises a motion of the phrase information as the degree of phrase confidence.
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Specification