DRAGON：一种具备视觉语言 grounding 能力的基于对话的辅助导航机器人
DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Grounding
AI总结：
针对视障人士空间理解与导航困难、现有寻路技术功能单一的问题，提出搭载对话系统、具备视觉语言grounding能力的DRAGON辅助导航机器人，可通过对话实现自由描述与地标匹配、提供环境语义信息，用户研究验证其沟通顺畅、引导体验良好。
摘要：
视障人士（PwVI）在理解周围空间并在其中导航方面存在困难。当前的寻路技术要么仅专注于导航功能，要么只能提供有限的环境相关信息。受视觉语言 grounding（视觉语言基础）和语义导航领域近期进展的启发，我们提出了DRAGON——一款搭载对话系统、具备将环境与自然语言关联能力的引导机器人。通过理解用户的指令，DRAGON能够引导用户前往地图上的目标地标、描述环境，并根据视觉观测回答问题。通过有效利用对话机制，该机器人可以将用户的自由形式描述对应到环境中的地标上，并通过口语向用户提供语义信息。我们在日常室内环境中招募蒙眼参与者开展了用户研究。结果表明，DRAGON能够与用户顺畅沟通，提供良好的引导体验，并以直观的方式帮助用户建立与周围环境的联系。相关视频和代码可访问https://sites.google.com/view/dragon-wayfinding/home获取。
英文摘要：
Persons with visual impairments (PwVI) have difficulties understanding and navigating spaces around them. Current wayfinding technologies either focus solely on navigation or provide limited communication about the environment. Motivated by recent advances in visual-language grounding and semantic navigation, we propose DRAGON, a guiding robot powered by a dialogue system and the ability to associate the environment with natural language. By understanding the commands from the user, DRAGON is able to guide the user to the desired landmarks on the map, describe the environment, and answer questions from visual observations. Through effective utilization of dialogue, the robot can ground the user's free-form descriptions to landmarks in the environment, and give the user semantic information through spoken language. We conduct a user study with blindfolded participants in an everyday indoor environment. Our results demonstrate that DRAGON is able to communicate with the user smoothly, provide a good guiding experience, and connect users with their surrounding environment in an intuitive manner. Videos and code are available at https://sites.google.com/view/dragon-wayfinding/home.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
