Audio-Visual SLAM towards Human Tracking and Human-Robot Interaction in Indoor Environments

@article{Chau2019AudioVisualST,
  title={Audio-Visual SLAM towards Human Tracking and Human-Robot Interaction in Indoor Environments},
  author={Aaron D. Chau and Kouhei Sekiguchi and Aditya Arie Nugraha and Kazuyoshi Yoshii and Kotaro Funakoshi},
  journal={2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  year={2019},
  pages={1-8}
}
We propose a novel audio-visual simultaneous and localization (SLAM) framework that exploits human pose and acoustic speech of human sound sources to allow a robot equipped with a microphone array and a monocular camera to track, map, and interact with human partners in an indoor environment. Since human interaction is characterized by features perceived in not only the visual modality, but the acoustic modality as well, SLAM systems must utilize information from both modalities. Using a state… 

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