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

Speech

Issue Status Action
1 Sound source localization. The robot should move in the direction of user and move forward. Resolved Used source beam angle to get the direction
2 Feedback problem from TTS. The audio stream keeps on listening its own voice (from TTS) and performs repeated action. Ex. User: Forward! Robot is moving forward TTS: Moving Forward! Robot is moving forward again because it hears TTS Resolved The audio stream is stopped before starting TTS and after TTS finishes, we start the audio stream, then start speech recognition and then load the grammar and tart listening again
3 Needs repetition of commands. Closed Works only in complete silence environment
4 Problems in differentiating similar sounding words, Ex. Start, Stop Closed We give different rhyming words.
5 Problem in user speech recognition because of different accent from the supportable language packs for Kinect. Closed Either the user has been trained for the accent or perform the experiment with a person whose native language is the one which is supported by Kinect language packs.
6 Cannot get histogram of probabilities for all words in dictionary as present setup using Microsoft Speech Recognition doesn't allow us to do so. Unresolved Cannot solve in the given time frame. Left for future work

Gesture

Issue Status Action
1 Go There command Resolved We project 3D vector connecting shoulder and hand to base plane (XZ) in robot frame. We then find angle between this vector and positive z axis direction. This angle is angle of rotation. Constraint: angle of rotation in range [-pi/2;pi/2] is not supported (user pointing behind him/her).
2 Unable to separate Left and Right commands Resolved We removed mirroring and solved this. But this introduced new constraint that query gesture should be done with same hand as was used in training.
3 Can not handle more than one person in Kinect field of view. Unresolved Recognition of user should be performed. This would allow robot to obey commands even in crowded environment.
4 Extra spurious skeletons, even when only one person is in front of robot. Closed Kinect noise.
5 Kinect has 4 meters range limitation. Closed Kinect feature.

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