Affective computing is an essential part of Human-Robot Interaction, where knowing the human’s emotional state is crucial to create an interactive and adaptive social robot. Previous work has mainly been focusing on using unimodal or multimodal sequential models for Affective State Recognition. However, few have included context-based information with their models to boost performance. In this paper, context-based features are tested on a multimodal Gated Recurrent Unit model with late fusion on game oriented data. It shows that using context-based features such as game state can significantly increase the performance of sequential multimodal models on game oriented data. / Affektiv beräkning är en viktig del av interaktion mellan människa och robot, där kunskap om människans emotionella tillstånd är avgörande för att skapa en interaktiv och anpassningsbar social robot. Tidigare arbete har främst fokuserat på att använda unimodala eller multimodala sekventiella modeller för affektiv tillståndsigenkänning. Men få har inkluderat kontextbaserad information i sin inställning för att öka prestanda. I denna uppsats testas kontextbaserade funktioner på en multimodal s.k. Gated Recurrent Unit modell med sen fusion på spelorienterad data. Det visar att användning av kontextbaserade information som tillståndet i spelet kan avsevärt öka prestandan hos sekventiella multimodala modeller på spelorienterad data.

Natural Language Generation and generating believable verbal communication are critical components in the development of social robots. The work presented in this paper is based on the sequence-to-sequence model and is focused on improving context and repeatability through the inclusion of task- specific information. The data set on which this study was conducted was collected through a Wizard of Oz framework using a social robot. The generated dialogue was evaluated through a survey designed to measure the adherence to the game context and perceived human qualities. The human qualities were measured using attributes from two well-known attribute scales intended for evaluating Human-Robot Interaction. The evaluation results indicate that the quality of the generated dialogue is on par with examples of actual dialogue spoken during the experiments. This paper also highlights interesting aspects regarding the usefulness of transfer learning in narrow contextual applications. The results presented in this paper show that it is possible to improve the contextual nature of generated dialogue by including additional task-specific information. / Generering av naturligt språk och uppgiften att skapa trovärdig verbal kommunikation är kritiska komponenter i utvecklingen av sociala robotar. Arbetet som presenteras i denna uppsats är baserat på sekvens-till-sekvens-modellen och fokuserar på att förbättra sammanhang och repeterbarhet genom att inkludera uppgiftspecifik information. Datauppsättningen som denna studie genomförde samlades in via ett Wizard of Oz-ramverk med hjälp av en social robot. Den genererade dialogen utvärderades genom en onlineundersökning utformad för att mäta efterlevnaden av spelskontexten och upplevda mänskliga egenskaper. Dessa mänskliga egenskaper mättes med attribut från två välkända attributskalor avsedda för utvärdering av människa-robot-interaktion. Utvärderingsresultaten visar att kvaliteten på den genererade dialogen är i nivå med exempel på faktisk dialog som talats under experimenten. Denna uppsats belyser också intressanta aspekter beträffande nyttan av överföringsinlärning i smala kontextuella applikationer. Resultaten som presenteras i denna uppsats visar att det är möjligt att förbättra den kontextuella karaktären hos genererad dialog genom att inkludera ytterligare uppgiftspecifik information.

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This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be utilized to increase situation awareness in telepresence applications.

Sistemas de teleconferência e telepresença são ferramentas de comunicação cada vez mais comuns. Partindo da existência de um canal de comunicação de alta capacidade, busca-se permitir visualização tridimensional realista, sensível ao ponto de vista do usuário e que mantenha a estrutura física da cena sem conhecimento prévio de sua estrutura, por meio de câmeras estéreo. A partir de pares de imagens temporalmente coerentes são sintetizadas visões intermediárias da cena alvo, de modo que um usuário rastreado tenha a ilusão de estar vendo a cena real através de uma janela. O sistema implementado baseia-se em dispositivos que provejam melhor qualidade visual no componente de geração de imagens intermediárias e procura maximizar a facilidade de uso na parte de visualização, empregando dispositivos domésticos e dispensando procedimentos complexos de calibração. / Teleconference and telepresence systems are increasingly common. Based on the existence of a high capacity communication channel, it is aimed to provide user\'s point of view sensible realistic 3D visualization without physical distortion or any prior knowledge about the structure of the scene, using stereo cameras. Pairs of temporally coherent images are used to generate intermediary view of the target scene so that a tracked user will have the illusion of posing in front so the real scene. The implemented system is based on high visual quality components on the side of views generation and tries to maximize ease of use in the visualization part by using commodity components and being free so complex calibration procedures.

This thesis focuses on the design of a foveated stereo video compression algorithm for visual telepresence applications. In a typical telepresence application, a user at the local site views real-time stereo video recorded and transmitted from a robotic camera platform located at a remote site. The robotic camera platform tracks the user's head motion producing the sensation of being present at the remote site. The design of the stereo video compression algorithm revolved around a fast spatio-temporal block-based motion estimation algorithm, with a foveated SPIHT algorithm used to compress and foveate the independent frames and error residues. Also, the redundancy between the left and right video streams was exploited by disparity compensation. Finally, position feedback from the robotic camera platform was used to perform global motion compensation, increasing the compression performance without raising computation requirements. The algorithm was analysed by introducing the above mentioned components separately. It was found that each component increased the compression rate significantly, producing compressed video with similar compression and quality as MPEG2. The implementation of the algorithm did not meet the real-time requirements on the experiment computers. However, the algorithm does not contain any intrinsic delays. Therefore, given faster processors or optimized software implementation, the design should be able to run in real-time.

This thesis focuses on the design of a foveated stereo video compression algorithm for visual telepresence applications. In a typical telepresence application, a user at the local site views real-time stereo video recorded and transmitted from a robotic camera platform located at a remote site. The robotic camera platform tracks the user's head motion producing the sensation of being present at the remote site. The design of the stereo video compression algorithm revolved around a fast spatio-temporal block-based motion estimation algorithm, with a foveated SPIHT algorithm used to compress and foveate the independent frames and error residues. Also, the redundancy between the left and right video streams was exploited by disparity compensation. Finally, position feedback from the robotic camera platform was used to perform global motion compensation, increasing the compression performance without raising computation requirements. The algorithm was analysed by introducing the above mentioned components separately. It was found that each component increased the compression rate significantly, producing compressed video with similar compression and quality as MPEG2. The implementation of the algorithm did not meet the real-time requirements on the experiment computers. However, the algorithm does not contain any intrinsic delays. Therefore, given faster processors or optimized software implementation, the design should be able to run in real-time.

This thesis involves systems for virtual presence in remote locations, a field referred to as telepresence. Recent image-based representations such as Google map's street view provide a familiar example. Several areas of research are open; such image-based representations are huge in size and the necessity to compress data efficiently for storage is inevitable. On the other hand, users are usually located in remote areas, and thus efficient transmission of the visual information is another issue of great importance. In this work, real-world images are used in preference to computer graphics representations, mainly due to the photorealism that they provide as well as to avoid the high computational cost required for simulating large-scale environments. The cubic format is selected for panoramas in this thesis. A major feature of the captured cubic-panoramic image datasets in this work is the assumption of static scenes, and major issues of the system are compression efficiency and random access for storage, as well as computational complexity for transmission upon remote users' requests. First, in order to enable smooth navigation across different view-points, a method for aligning cubic-panorama image datasets by using the geometry of the scene is proposed and tested. Feature detection and camera calibration are incorporated and unlike the existing method, which is limited to a pair of panoramas, our approach is applicable to datasets with a large number of panoramic images, with no need for extra numerical estimation. Second, the problem of cubic-panorama image dataset compression is addressed in a number of ways. Two state-of-the-art approaches, namely the standardized scheme of H.264 and a wavelet-based codec named Dirac, are used and compared for the application of virtual navigation in image based representations of real world environments. Different frame prediction structures and group of pictures lengths are investigated and compared for this new type of visual data. At this stage, based on the obtained results, an efficient prediction structure and bitstream syntax using features of the data as well as satisfying major requirements of the system are proposed. Third, we have proposed novel methods to address the important issue of disparity estimation. A client-server based scheme is assumed and a remote user is assumed to seek information at each navigation step. Considering the compression stage, a fast method that uses our previous work on the geometry of the scene as well as the proposed prediction structure together with the cubic format of panoramas is used to estimate disparity vectors efficiently. Considering the transmission stage, a new transcoding scheme is introduced and a number of different frame-format conversion scenarios are addressed towards the goal of free navigation. Different types of navigation scenarios including forward or backward navigation, as well as user pan, tilt, and zoom are addressed. In all the aforementioned cases, results are compared both visually through error images and videos as well as using the objective measures. Altogether free navigation within the captured panoramic image datasets will be facilitated using our work and it can be incorporated in state-of-the-art of emerging cubic-panorama image dataset compression/transmission schemes.

Sistemas de teleconferência e telepresença são ferramentas de comunicação cada vez mais comuns. Partindo da existência de um canal de comunicação de alta capacidade, busca-se permitir visualização tridimensional realista, sensível ao ponto de vista do usuário e que mantenha a estrutura física da cena sem conhecimento prévio de sua estrutura, por meio de câmeras estéreo. A partir de pares de imagens temporalmente coerentes são sintetizadas visões intermediárias da cena alvo, de modo que um usuário rastreado tenha a ilusão de estar vendo a cena real através de uma janela. O sistema implementado baseia-se em dispositivos que provejam melhor qualidade visual no componente de geração de imagens intermediárias e procura maximizar a facilidade de uso na parte de visualização, empregando dispositivos domésticos e dispensando procedimentos complexos de calibração. / Teleconference and telepresence systems are increasingly common. Based on the existence of a high capacity communication channel, it is aimed to provide user\'s point of view sensible realistic 3D visualization without physical distortion or any prior knowledge about the structure of the scene, using stereo cameras. Pairs of temporally coherent images are used to generate intermediary view of the target scene so that a tracked user will have the illusion of posing in front so the real scene. The implemented system is based on high visual quality components on the side of views generation and tries to maximize ease of use in the visualization part by using commodity components and being free so complex calibration procedures.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2016-04-07T17:27:46Z No. of bitstreams: 1 igorsilvadeoliveira.pdf: 2480081 bytes, checksum: 46e54bc4e901adc9e157f5f76bde4459 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2016-04-24T04:01:34Z (GMT) No. of bitstreams: 1 igorsilvadeoliveira.pdf: 2480081 bytes, checksum: 46e54bc4e901adc9e157f5f76bde4459 (MD5) / Made available in DSpace on 2016-04-24T04:01:34Z (GMT). No. of bitstreams: 1 igorsilvadeoliveira.pdf: 2480081 bytes, checksum: 46e54bc4e901adc9e157f5f76bde4459 (MD5) Previous issue date: 2013-03-12 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O estudo tem como proposta analisar a representação da tecnologia da telepresença no cinema de ficção científica contemporâneo. Para isso, foram escolhidos os filmes Sleep Dealer (direção de Alex Rivera, México/Estados Unidos, 2008) e Substitutos (Surrogates, direção de Jonanthan Mostow, Estados Unidos, 2009), selecionados por apresentarem abordagens distintas da telepresença no contexto de suas respectivas fábulas, estabelecendo diálogos e diferenças que ajudam no estudo da relação entre tecnologia, imaginário e cinema. Deve-se observar que o retrato da telepresença, nesses filmes, apresenta a utilização do corpo humano como suporte de tecnologias e seus impactos socioculturais, um cenário que também é representado em outros trabalhos artísticos contemporâneos. O texto elabora a conclusão de que a crescente relevância do corpo humano como interface na telepresença funciona como um significativo modo de compreensão na relação entre arte e tecnologia na atualidade. / The study has the purpose of analyzing the representation of telepresence in contemporary science fiction cinema. For this, the films chosen were Sleep Dealer (Alex Rivera direction, Mexico/USA, 2008) and Surrogates (directed by Jonathan Mostow, United States, 2009), selected for their distinct approaches of telepresence in the context of their respective fables, establishing dialogues and differences that help in the study of the relationship between technology, imagery and movies. It should be noted that the portrait of telepresence, in these films, presents the use of the human body as support of technologies and its socio-cultural impacts, a scenario that is also represented in other contemporary artwork. The text elaborates the conclusion that the increasing relevance of the human body as the interface on the telepresence works as a significant way of understanding the relationship between art and technology today.