Object recognition in service robots: Conducting verbal interaction on color and spatial relationship

Service robots need to be able to recognize objects located in complex environments. Although there has been recent progress in this area, it remains difficult for autonomous vision systems to recognize objects in natural conditions. In this paper, we propose an interactive object recognition system. In this system, the robot asks the user to verbally provide information about an object that it cannot detect. In particular, it asks the user questions regarding color and spatial relationship between objects depending on the situation. Experimental results confirm the usefulness and efficiency of our interaction system.