Tseng, Shih-HuanShih-HuanTsengHsu, Yuan-HanYuan-HanHsuChiang, Yi-ShiuYi-ShiuChiangWu, Tung-YenTung-YenWuLI-CHEN FU2020-05-042020-05-042014https://scholars.lib.ntu.edu.tw/handle/123456789/488997https://www.scopus.com/inward/record.uri?eid=2-s2.0-84937561236&doi=10.1109%2fROMAN.2014.6926307&partnerID=40&md5=85f68e070a5e9d96f67b2ae285a14e87For service robots to be able to enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, a new integrated approach on recognizing multi-human social signals is proposed. Specifically, the nonverbal social signals are detected by a laser range finder and a RGB-D camera and are processed to find the multi-human (spatial) social patterns. Those recognized patterns are then applied to human-to-human, human-to-robot or multi-human-to-robot interactive formation. Experimental results shows that our robot successfully recognizes the aforementioned users' social patterns followed by appropriate services. © 2014 IEEE.Agricultural robots; Range finders; Robots; Integrated approach; Laser range finders; Multi-modal; Office environments; Rgb-d cameras; Service robots; Social patterns; Social signals; Social robots; Human robot interactionconference paper10.1109/ROMAN.2014.69263072-s2.0-84937561236