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Updated Dec 10, 2012 by an...@norture.com

Speech

Test Case Expected Output Angga Saurabh Igor Yukti
1 User speaks "Forward" Robot should rotate to the direction of the user and move forward
2 User speaks "Backward" Robot should move backward
3 User speaks "Left" Robot should rotate to the left in the robot's frame of reference
4 User speaks "Right" Robot should rotate to the right in the robot's frame of reference
5 Robot is moving "Forward" and user speaks "Faster" Robot will increase its linear speed
6 Robot is moving "Forward" and user speaks "Slower" Robot will decrease its linear speed
7 User speaks "Stop" Robot should stop immediately
8 User stand behind the Kinect and give any command It should not recognize your command
9 User speaks in noisy environment It should not recognize your command
10 User speaks "Password" in the beginning It may or may not recognize your voice

Note: If robot speaks "Again Please" or gives no response, the user should repeat the command.

Gesture

Test Case Expected Output Angga-Trainer Saurabh Igor Yukti
1 User performs "Forward" gesture Robot should move forward in the line of current heading
2 User performs "Backward" gesture Robot should move backward, with no rotation
3 User points "Left" Robot should rotate to the left in the robot's frame of reference
4 User points "Right" Robot should rotate to the right in the robot's frame of reference
5 Robot is moving "Forward" and user performs "Faster" gesture Robot will increase its linear speed
6 Robot is moving "Forward" and user performs "Slower" gesture Robot will decrease its linear speed
7 User performs "Stop" gesture Robot should stop immediately
8 User is out of field of view of Kinect and performs any gesture Robot should not recognize gesture.
9 There is more than one skeleton in Kinect field of view Robot should not respond.

Note Please refer to Gesture database page for videos of all the gestures. Also user can make robot learn new gestures.

Speech & Gesture

Test Case Expected Output Angga Saurabh Igor Yukti
1 User speaks "Go" or "Go there" then perform the direction gesture The robot should ask where and after giving direction, it says "taking complementary action" and moves to the specified direction
2 User performs gesture first and then speaks "Go" The robot execute command according to the gesture
3 User speaks and performs gesture with consistent meaning, for example "Forward" and perform the forward gesture. The robot should speak "Fusing commands" and perform the moving forward action in the user direction.
4 User speaks a command and performs different gesture. For example: user speaks "Forward" while giving left or right gesture Robot performs an action according to the command which has higher probability than the other. When both commands have high probabilities, robot speaks "I am confused. Again please." and will do nothing.

Note: When the user give any command, the user should anticipate the reaction of robot in maximum 3 seconds. This is because we have given internal delay of 3 seconds which was required so that the robot receives both commands and decides accordingly.

Charts

Confusion Matrix for Gesture Commands





Probability of success of each Gesture command





Confusion Matrix for Speech Commands





Probability of success of each Speech command





Correct Fusion Rate





Conflicting Fusion Rate





Inter Person Variability Test for Gesture





Inter Person Variability Test for Speech





Execution Time



Here speech wait for gesture command to arrive for 3 seconds and vice versa



Here speech and gesture are executed without waiting for each other

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