Robot device, method of controlling robot device, and program
First Claim
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1. A robot device, comprising:
- circuitry configured to;
acquire an order for encouraging the robot device to establish joint attention on a target from a user;
estimate a position and a posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order; and
specify a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction,wherein the robot device does not detect the beam indicated by the optical indication device.
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Abstract
There is provided a robot device including an instruction acquisition unit that acquires an order for encouraging a robot device to establish joint attention on a target from a user, a position/posture estimation unit that estimates a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order, and a target specifying unit that specifies a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction.
30 Citations
10 Claims
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1. A robot device, comprising:
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circuitry configured to; acquire an order for encouraging the robot device to establish joint attention on a target from a user; estimate a position and a posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order; and specify a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction, wherein the robot device does not detect the beam indicated by the optical indication device. - View Dependent Claims (2, 3, 4, 5, 8, 9, 10)
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6. A method of controlling a robot device, comprising the steps of:
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acquiring an order for encouraging establishment of joint attention with a robot device on a target from a user; estimating a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order; and specifying, by processing circuitry, a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifying the target on an environment map representing a surrounding environment based on a specifying result of the direction, wherein the robot device does not detect the beam indicated by the optical indication device.
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7. A non-transitory computer-readable storage medium having computer readable program codes embodied in the computer readable storage medium that, when executed cause a computer to execute:
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acquiring an order for encouraging establishment of joint attention with a robot device on a target from a user; estimating a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order; and specifying a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifying the target on an environment map representing a surrounding environment based on a specifying result of the direction, wherein the robot device does not detect the beam indicated by the optical indication device.
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Specification