Yukiko Nakano, Cristina Conati and Thomas Bader (eds.). Co-present or not? Embodiement, situatedness and the Mona Lisa gaze effect. Springer, 2013. BibTeX

@inbook{edlund3782,
	title = "Co-present or not? Embodiement, situatedness and the Mona Lisa gaze effect",
	author = "Edlund, Jens and Al Moubayed, Samer and Beskow, Jonas",
	year = 2013,
	month = "",
	booktitle = "Eye Gaze in Intelligent User Interfaces - Gaze-based Analyses, Models, and Applications",
	editor = "Nakano, Yukiko and Conati, Cristina and Bader, Thomas",
	publisher = "Springer",
	abstract = "The interest in embodying and situating computer programmes took off in the autonomous agents community in the 90s. Today, researchers and designers of programmes that interact with people on human terms endow their systems with humanoid physiognomies for a variety of reasons. In most cases, attempts at achieving this embodiment and situatedness has taken one of two directions: virtual characters and actual physical robots. In addition, a technique that is far from new is gaining ground rapidly: projection of animated faces on head-shaped 3D surfaces. In this chapter, we provide a history of this technique; an overview of its pros and cons; and an in-depth description of the cause and mechanics of the main drawback of 2D displays of 3D faces (and objects): the Mona Liza gaze effect. We conclude with a description of an experimental paradigm that measures perceived directionality in general and the Mona Lisa gaze effect in particular.",
	isbn = "978-1-4471-4783-1"
}

S Al Moubayed, J Beskow, M Blomberg, B Granström, J Gustafson, N Mirning and G Skantze. Talking with Furhat - multi-party interaction with a back-projected robot head. In Proceedings of Fonetik'12. June 2012. URL BibTeX

@inproceedings{al moubayed3748,
	title = "Talking with Furhat - multi-party interaction with a back-projected robot head",
	author = "Al Moubayed, S. and Beskow, J. and Blomberg, M. and Granström, B. and Gustafson, J. and Mirning, N. and Skantze, G.",
	year = 2012,
	month = "jun",
	booktitle = "Proceedings of Fonetik'12",
	address = "Gothenberg, Sweden",
	abstract = "This is a condensed presentation of some recent work on a back-projected robotic head for multi-party interaction in public settings. We will describe some of the design strategies and give some preliminary analysis of an interaction database collected at the Robotville exhibition at the London Science Museum",
	url = "http://www.speech.kth.se/prod/publications/files/3748.pdf"
}

Anna Esposito, Antonietta Esposito, Alessandro Vinciarelli, Rüdiger Hoffmann and Vincent C. Müller (eds.). Furhat: A Back-projected Human-like Robot Head for Multiparty Human-Machine Interaction. Springer, May 2012. BibTeX

@inbook{al moubayed3720,
	title = "Furhat: A Back-projected Human-like Robot Head for Multiparty Human-Machine Interaction",
	author = "Al Moubayed, S. and Beskow, J. and Skantze, G. and Granström, B.",
	year = 2012,
	month = "may",
	booktitle = "Cognitive Behavioural Systems. Lecture Notes in Computer Science",
	editor = "Esposito, Anna and Esposito, Antonietta and Vinciarelli, Alessandro and Hoffmann, Rüdiger and C. Müller, Vincent",
	publisher = "Springer"
}

S Al Moubayed, J Edlund and J Beskow. Taming Mona Lisa: communicating gaze faithfully in 2D and 3D facial projections. ACM Transactions on Interactive Intelligent Systems 1(2):25, 2012. URL BibTeX

@article{al moubayed3542,
	title = "Taming Mona Lisa: communicating gaze faithfully in 2D and 3D facial projections",
	author = "Al Moubayed, S. and Edlund, J. and Beskow, J",
	year = 2012,
	month = "",
	journal = "ACM Transactions on Interactive Intelligent Systems",
	volume = 1,
	number = 2,
	pages = 25,
	abstract = "The perception of gaze plays a crucial role in human-human interaction. Gaze has been shown to matter for a number of aspects of communication and dialogue, especially for managing the flow of the dialogue and participant attention, for deictic referencing, and for the communication of attitude. When developing embodied conversational agents (ECAs) and talking heads, modeling and delivering accurate gaze targets is crucial. Traditionally, systems communicating through talking heads have been displayed to the human conversant using 2D displays, such as flat monitors. This approach introduces severe limitations for an accurate communication of gaze since 2D displays are associated with several powerful effects and illusions, most importantly the Mona Lisa gaze effect, where the gaze of the projected head appears to follow the observer regardless of viewing angle. We describe the Mona Lisa gaze effect and its consequences in the interaction loop, and propose a new approach for displaying talking heads using a 3D projection surface (a physical model of a human head) as an alternative to the traditional flat surface projection. We investigate and compare the accuracy of the perception of gaze direction and the Mona Lisa gaze effect in 2D and 3D projection surfaces in a five subject gaze perception experiment. The experiment confirms that a 3D projection surface completely eliminates the Mona Lisa gaze effect and delivers very accurate gaze direction that is independent of the observer's viewing angle. Based on the data collected in this experiment, we rephrase the formulation of the Mona Lisa gaze effect. The data, when reinterpreted, confirms the predictions of the new model for both 2D and 3D projection surfaces. Finally, we discuss the requirements on different spatially interactive systems in terms of gaze direction, and propose new applications and experiments for interaction in a human-ECA and a human-robot settings made possible by this technology.",
	doi = "10.1145/2070719.207072",
	url = "http://www.speech.kth.se/prod/publications/files/3542.pdf"
}

S Al Moubayed and G Skantze. Perception of Gaze Direction for Situated Interaction. In Proc. of the 4th Workshop on Eye Gaze in Intelligent Human Machine Interaction. The 14th ACM International Conference on Multimodal Interaction ICMI. October 2012. URL BibTeX

@inproceedings{al moubayed3773,
	title = "Perception of Gaze Direction for Situated Interaction",
	author = "Al Moubayed, S. and Skantze, G.",
	year = 2012,
	month = "oct",
	booktitle = "Proc. of the 4th Workshop on Eye Gaze in Intelligent Human Machine Interaction. The 14th ACM International Conference on Multimodal Interaction ICMI",
	address = "Santa Monica, CA, USA",
	abstract = "Accurate human perception of robots’ gaze direction is crucial for the design of a natural and fluent situated multimodal face-to-face interaction between humans and machines. In this paper, we present an experiment targeted at quantifying the effects of different gaze cues synthesized using the Furhat back-projected robot head, on the accuracy of perceived spatial direction of gaze by humans using 18 test subjects. The study first quantifies the accuracy of the perceived gaze direction in a human-human setup, and compares that to the use of synthesized gaze movements in different conditions: viewing the robot eyes frontal or at a 45 degrees angle side view. We also study the effect of 3D gaze by controlling both eyes to indicate the depth of the focal point, the use of gaze or head pose, and the use of static or dynamic eyelids. The findings of the study are highly relevant to the design and control of robots and animated agents in situated face-to-face interaction",
	url = "http://www.speech.kth.se/prod/publications/files/3773.pdf"
}

S Al Moubayed, G Skantze and J Beskow. Lip-reading Furhat: Audio Visual Intelligibility of a Back Projected Animated Face. In Proc. of the Intelligent Virtual Agents 10th International Conference (IVA 2012). September 2012. URL BibTeX

@inproceedings{al moubayed3762,
	title = "Lip-reading Furhat: Audio Visual Intelligibility of a Back Projected Animated Face",
	author = "Al Moubayed, S. and Skantze, G. and Beskow, J",
	year = 2012,
	month = "sep",
	booktitle = "Proc. of the Intelligent Virtual Agents 10th International Conference (IVA 2012)",
	series = "LNCS",
	publisher = "Springer",
	address = "Santa Cruz, CA, USA",
	abstract = "Back projecting a computer animated face, onto a three dimensional static physical model of a face, is a promising technology that is gaining ground as a solution to building situated, flexible and human-like robot heads. In this paper, we first briefly describe Furhat, a back projected robot head built for the purpose of multimodal multiparty human-machine interaction, and its benefits over virtual characters and robotic heads; and then motivate the need to investigating the contribution to speech intelligibility Furhat’s face offers. We present an audio-visual speech intelligibility experiment, in which 10 subjects listened to short sentences with degraded speech signal. The experiment compares the gain in intelligibility between lip reading a face visualized on a 2D screen compared to a 3D back-projected face and from different viewing angles. The results show that the audio-visual speech intelligibility holds when the avatar is projected onto a static face model (in the case of Furhat), and even, rather surprisingly, exceeds it. This means that despite the movement limitations back projected animated face models bring about; their audio visual speech intelligibility is equal, or even higher, compared to the same models shown on flat displays. At the end of the paper we discuss several hypotheses on how to interpret the results, and motivate future investigations to better explore the characteristics of visual speech perception 3D projected animated faces.",
	url = "http://www.speech.kth.se/prod/publications/files/3762.pdf"
}

S Al Moubayed, G Skantze, J Beskow, K Stefanov and J Gustafson. Multimodal Multiparty Social Interaction with the Furhat Head. In Proc. of the 14th ACM International Conference on Multimodal Interaction ICMI. October 2012. Outstanding Demo Award at ICMI 2012. URL BibTeX

@inproceedings{al moubayed3770,
	title = "Multimodal Multiparty Social Interaction with the Furhat Head",
	author = "Al Moubayed, S. and Skantze, G. and Beskow, J. and Stefanov, K. and Gustafson, J.",
	year = 2012,
	month = "oct",
	booktitle = "Proc. of the 14th ACM International Conference on Multimodal Interaction ICMI",
	address = "Santa Monica, CA, USA",
	abstract = "We will show in this demonstrator an advanced multimodal and multiparty spoken conversational system using Furhat, a robot head based on projected facial animation. Furhat is a human-like interface that utilizes facial animation for physical robot heads using back-projection. In the system, multimodality is enabled using speech and rich visual input signals such as multi-person real-time face tracking and microphone tracking. The demonstrator will showcase a system that is able to carry out social dialogue with multiple interlocutors simultaneously with rich output signals such as eye and head coordination, lips synchronized speech synthesis, and non-verbal facial gestures used to regulate fluent and expressive multiparty conversations.",
	note = "Outstanding Demo Award at ICMI 2012",
	url = "http://www.speech.kth.se/prod/publications/files/3770.pdf"
}

Samer Al Moubayed, Jonas Beskow, Björn Granström, Joakim Gustafson, Nicole Mirning, Gabriel Skantze and Manfred Tscheligi. Furhat goes to Robotville: a large-scale multiparty human-robot interaction data collection in a public space. In Proc of LREC Workshop on Multimodal Corpora. June 2012. URL BibTeX

@inproceedings{al moubayed3723,
	title = "Furhat goes to Robotville: a large-scale multiparty human-robot interaction data collection in a public space",
	author = "Al Moubayed, Samer and Beskow, Jonas and Granström, Björn and Gustafson, Joakim and Mirning, Nicole and Skantze, Gabriel and Tscheligi, Manfred",
	year = 2012,
	month = "jun",
	booktitle = "Proc of LREC Workshop on Multimodal Corpora",
	address = "Istanbul, Turkey",
	url = "http://www.speech.kth.se/prod/publications/files/3723.pdf"
}

M Blomberg, G Skantze, S Al Moubayed, J Gustafson, J Beskow and B Granström. Children and adults in dialogue with the robot head Furhat - corpus collection and initial analysis. In Proceedings of WOCCI. September 2012. BibTeX

@inproceedings{blomberg3766,
	title = "Children and adults in dialogue with the robot head Furhat - corpus collection and initial analysis",
	author = "Blomberg, M. and Skantze, G. and Al Moubayed, S. and Gustafson, J. and Beskow, J. and Granström, B.",
	year = 2012,
	month = "sep",
	booktitle = "Proceedings of WOCCI",
	address = "Portland, OR"
}

R Meena, G Skantze and J Gustafson. A Chunking Parser for Semantic Interpretation of Spoken Route Directions in Human-Robot Dialogue. In Proceedings of the 4th Swedish Language Technology Conference (SLTC 2012). October 2012, 55-56. URL BibTeX

@inproceedings{meena3812,
	title = "A Chunking Parser for Semantic Interpretation of Spoken Route Directions in Human-Robot Dialogue",
	author = "Meena, R. and Skantze, G. and Gustafson, J.",
	year = 2012,
	month = "oct",
	booktitle = "Proceedings of the 4th Swedish Language Technology Conference (SLTC 2012)",
	pages = "55-56",
	address = "Lund, Sweden",
	abstract = "We present a novel application of the chunking parser for data-driven semantic interpretation of spoken route directions into route graphs that are useful for robot navigation. Various sets of features and machine learning algorithms were explored. The results indicate that our approach is robust to speech recognition errors, and could be easily used in other languages using simple features.",
	url = "http://www.speech.kth.se/prod/publications/files/3812.pdf"
}

R Meena, G Skantze and J Gustafson. A Data-driven Approach to Understanding Spoken Route Directions in Human-Robot Dialogue. In Proceedings of Interspeech. September 2012. URL BibTeX

@inproceedings{meena3768,
	title = "A Data-driven Approach to Understanding Spoken Route Directions in Human-Robot Dialogue",
	author = "Meena, R. and Skantze, G. and Gustafson, J.",
	year = 2012,
	month = "sep",
	booktitle = "Proceedings of Interspeech",
	address = "Portland, OR, US",
	abstract = "Autonomous robots should be able to find directions and navigate their way to a destination in unknown urban environments by seeking route directions from passersby, like humans do. In this paper, we present a data-driven approach for automatic interpretation of spoken route directions into a route graph that may be useful for robot navigation. The results indicate that our approach is robust in handling speech recognitions error and it is indeed possible to get people to freely describe route directions.",
	url = "http://www.speech.kth.se/prod/publications/files/3768.pdf"
}

D Neiberg and J Gustafson. Cues to perceived functions of acted and spontaneous feedback expressions. In The Interdisciplinary Workshop on Feedback Behaviors in Dialog. September 2012. URL BibTeX

@inproceedings{neiberg3736,
	title = "Cues to perceived functions of acted and spontaneous feedback expressions",
	author = "Neiberg, D. and Gustafson, J.",
	year = 2012,
	month = "sep",
	booktitle = "The Interdisciplinary Workshop on Feedback Behaviors in Dialog",
	abstract = "We present a two step study where the first part aims to determine the phonemic prior bias (conditioned on “ah”, “m-hm”, “m-m”, “n-hn”, “oh”, “okay”, “u-hu”, “yeah” and “yes”) in subjects perception of six feedback functions (acknowledgment, continuer, disagreement, surprise, enthusiasm and uncertainty). The results showed a clear phonemic prior bias for some tokens, e.g “ah” and “oh” is commonly interpreted as surprise but “yeah” and “yes” less so. The second part aims to examine determinants to judged typicality, or graded structure, within the six functions of “okay”. Typicality was correlated to four determinants: prosodic central tendency within the function (CT); phonemic prior bias as an approximation to frequency instantiation (FI), the posterior i.e. CT x FI and judged Ideality (ID), i.e. similarity to ideals associated with the goals served by its function. The results tentatively suggests that acted expressions are more effectively communicated and that the functions of feedback to a greater extent constitute goal-based categories determined by ideals and to a lesser extent a taxonomy determined by CT and FI. However, it is possible to automatically predict typicality with a correlation of r = 0.52 via the posterior.",
	url = "http://www.speech.kth.se/prod/publications/files/3736.pdf"
}

G Skantze. A Testbed for Examining the Timing of Feedback using a Map Task. In Proceedings of the Interdisciplinary Workshop on Feedback Behaviors in Dialog. September 2012. Selected for keynote presentation. URL BibTeX

@inproceedings{skantze3761,
	title = "A Testbed for Examining the Timing of Feedback using a Map Task",
	author = "Skantze, G.",
	year = 2012,
	month = "sep",
	booktitle = "Proceedings of the Interdisciplinary Workshop on Feedback Behaviors in Dialog",
	address = "Portland, OR",
	abstract = "In this paper, we present a fully automated spoken dialogue sys-tem that can perform the Map Task with a user. By implementing a trick, the system can convincingly act as an attentive listener, without any speech recognition. An initial study is presented where we let users interact with the system and recorded the interactions. Using this data, we have then trained a Support Vector Machine on the task of identifying appropriate locations to give feedback, based on automatically extractable prosodic and contextual features. 200 ms after the end of the user’s speech, the model may identify response locations with an accuracy of 75%, as compared to a baseline of 56.3%.",
	note = "Selected for keynote presentation",
	url = "http://www.speech.kth.se/prod/publications/files/3761.pdf"
}

G Skantze and S Al Moubayed. IrisTK: a statechart-based toolkit for multi-party face-to-face interaction. In Proceedings of ICMI. September 2012. URL BibTeX

@inproceedings{skantze3772,
	title = "IrisTK: a statechart-based toolkit for multi-party face-to-face interaction",
	author = "Skantze, G. and Al Moubayed, S.",
	year = 2012,
	month = "sep",
	booktitle = "Proceedings of ICMI",
	address = "Santa Monica, CA",
	url = "http://www.speech.kth.se/prod/publications/files/3772.pdf"
}

G Skantze, S Al Moubayed, J Gustafson, J Beskow and B Granström. Furhat at Robotville: A Robot Head Harvesting the Thoughts of the Public through Multi-party Dialogue. In Proceedings of IVA-RCVA. September 2012. URL BibTeX

@inproceedings{skantze3771,
	title = "Furhat at Robotville: A Robot Head Harvesting the Thoughts of the Public through Multi-party Dialogue",
	author = "Skantze, G. and Al Moubayed, S. and Gustafson, J. and Beskow, J. and Granström, B.",
	year = 2012,
	month = "sep",
	booktitle = "Proceedings of IVA-RCVA",
	address = "Santa Cruz, CA",
	url = "http://www.speech.kth.se/prod/publications/files/3771.pdf"
}

Anna Esposito, Alessandro Vinciarelli, Klára Vicsi, Catherine Pelachaud and Anton Nijholt (eds.). Animated Faces for Robotic Heads: Gaze and Beyond. pages 19-35, Springer, August 2011. URL BibTeX

@inbook{al moubayed3543,
	title = "Animated Faces for Robotic Heads: Gaze and Beyond",
	author = "Al Moubayed, S. and Beskow, J and Edlund, J. and Granström, B. and House, D.",
	year = 2011,
	month = "aug",
	booktitle = "Analysis of Verbal and Nonverbal Communication and Enactment: The Processing Issues, Lecture Notes in Computer Science",
	pages = "19-35",
	editor = "Esposito, Anna and Vinciarelli, Alessandro and Vicsi, Klára and Pelachaud, Catherine and Nijholt, Anton",
	publisher = "Springer",
	url = "http://www.speech.kth.se/prod/publications/files/3543.pdf"
}

S Al Moubayed and G Skantze. Effects of 2D and 3D Displays on Turn-taking Behavior in Multiparty Human-Computer Dialog. In Proceedings of SemDial. 2011, 192-193. URL BibTeX

@inproceedings{al moubayed3624,
	title = "Effects of 2D and 3D Displays on Turn-taking Behavior in Multiparty Human-Computer Dialog",
	author = "Al Moubayed, S. and Skantze, G.",
	year = 2011,
	month = "",
	booktitle = "Proceedings of SemDial",
	pages = "192-193",
	address = "Los Angeles, CA",
	url = "http://www.speech.kth.se/prod/publications/files/3624.pdf"
}

S Al Moubayed and G Skantze. Turn-taking Control Using Gaze in Multiparty Human-Computer Dialogue: Effects of 2D and 3D Displays. In Proceedings of AVSP. September 2011. URL BibTeX

@inproceedings{al moubayed3575,
	title = "Turn-taking Control Using Gaze in Multiparty Human-Computer Dialogue: Effects of 2D and 3D Displays",
	author = "Al Moubayed, S. and Skantze, G.",
	year = 2011,
	month = "sep",
	booktitle = "Proceedings of AVSP",
	address = "Florence, Italy",
	url = "http://www.speech.kth.se/prod/publications/files/3575.pdf"
}

J Edlund, S Al Moubayed and J Beskow. The Mona Lisa Gaze Effect as an Objective Metric for Perceived Cospatiality. In Hannes Högni Vilhjálmsson, Stefan Kopp, Stacy Marsella and Kristinn R Thórisson (eds.). Proc. of the Intelligent Virtual Agents 10th International Conference (IVA 2011) 6895. September 2011, 439-440. URL BibTeX

@inproceedings{edlund3613,
	title = "The Mona Lisa Gaze Effect as an Objective Metric for Perceived Cospatiality",
	author = "Edlund, J. and Al Moubayed, S. and Beskow, J",
	year = 2011,
	month = "sep",
	volume = 6895,
	booktitle = "Proc. of the Intelligent Virtual Agents 10th International Conference (IVA 2011)",
	pages = "439-440",
	editor = "Vilhjálmsson, Hannes Högni and Kopp, Stefan and Marsella, Stacy and Thórisson, Kristinn R.",
	series = "LNCS",
	publisher = "Springer",
	address = "Reykjavík, Iceland",
	abstract = "We propose to utilize the Mona Lisa gaze effect for an objective and repeatable measure of the extent to which a viewer perceives an object as cospatial. Preliminary results suggest that the metric behaves as expected. Proc. of the Intelligent Virtual Agents 10th International Conference (IVA 2011)",
	doi = "10.1007/978-3-642-23974-8",
	url = "http://www.speech.kth.se/prod/publications/files/3613.pdf"
}

M Johansson, G Skantze and J Gustafson. Understanding route directions in human-robot dialogue. In Proceedings of SemDial. September 2011, 19-27. URL BibTeX

@inproceedings{johansson3577,
	title = "Understanding route directions in human-robot dialogue",
	author = "Johansson, M. and Skantze, G. and Gustafson, J.",
	year = 2011,
	month = "sep",
	booktitle = "Proceedings of SemDial",
	pages = "19-27",
	address = "Los Angeles, CA",
	url = "http://www.speech.kth.se/prod/publications/files/3577.pdf"
}

D Schlangen and G Skantze. A General, Abstract Model of Incremental Dialogue Processing. Dialogue & Discourse 2(1):83-111, April 2011. URL BibTeX

@article{schlangen3447,
	title = "A General, Abstract Model of Incremental Dialogue Processing",
	author = "Schlangen, D. and Skantze, G.",
	year = 2011,
	month = "apr",
	journal = "Dialogue & Discourse",
	volume = 2,
	number = 1,
	pages = "83-111",
	issn = "2152-9620",
	url = "http://www.speech.kth.se/prod/publications/files/3447.pdf"
}

S Al Moubayed and J Beskow. Perception of Nonverbal Gestures of Prominence in Visual Speech Animation. In FAA, The ACM / SSPNET 2nd International Symposium on Facial Analysis and Animation. October 2010. URL BibTeX

@inproceedings{al moubayed3501,
	title = "Perception of Nonverbal Gestures of Prominence in Visual Speech Animation",
	author = "Al Moubayed, S. and Beskow, J.",
	year = 2010,
	month = "oct",
	booktitle = "FAA, The ACM / SSPNET 2nd International Symposium on Facial Analysis and Animation",
	address = "Edinburgh, UK",
	url = "http://www.speech.kth.se/prod/publications/files/3501.pdf"
}

J Beskow and S Al Moubayed. Perception of Gaze Direction in 2D and 3D Facial Projections. In The ACM / SSPNET 2nd International Symposium on Facial Analysis and Animation. October 2010. URL BibTeX

@inproceedings{beskow3500,
	title = "Perception of Gaze Direction in 2D and 3D Facial Projections",
	author = "Beskow, J. and Al Moubayed, S.",
	year = 2010,
	month = "oct",
	booktitle = "The ACM / SSPNET 2nd International Symposium on Facial Analysis and Animation",
	address = "Edinburgh, UK",
	url = "http://www.speech.kth.se/prod/publications/files/3500.pdf"
}

G Skantze. Jindigo: a Java-based Framework for Incremental Dialogue Systems. KTH, 2010. URL BibTeX

@techreport{skantze3654,
	title = "Jindigo: a Java-based Framework for Incremental Dialogue Systems",
	author = "Skantze, G.",
	year = 2010,
	month = "",
	address = "Stockholm, Sweden",
	institution = "KTH",
	url = "http://www.speech.kth.se/prod/publications/files/3654.pdf"
}

B Gonsior, D Wollherr and M Buss. Towards a Dialog Strategy for Handling Miscommunication in Human-Robot Dialog. In Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (Ro-Man). 2010, 284-289. BibTeX

@inproceedings{Gonsior2010,
	author = "B. Gonsior and D. Wollherr and M. Buss",
	title = "Towards a Dialog Strategy for Handling Miscommunication in Human-Robot Dialog",
	booktitle = "Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (Ro-Man)",
	year = 2010,
	pages = "284-289",
	address = "Viareggio, Italy",
	owner = "gonsior",
	timestamp = "2012.12.11"
}

B Gonsior, S Sosnowski, C Mayer, J Blume, B Radig, D Wollherr and K Kühnlenz. Improving Aspects of Empathy and Subjective Performance for HRI through Mirroring Facial Expressions. In Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN). 2011, 350-356. BibTeX

@inproceedings{Gonsior2011,
	author = {B. Gonsior and S. Sosnowski and C. Mayer and J. Blume and B. Radig and D. Wollherr and K. K\"uhnlenz},
	title = "Improving Aspects of Empathy and Subjective Performance for HRI through Mirroring Facial Expressions",
	booktitle = "Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN)",
	year = 2011,
	pages = "350-356",
	address = "Atlanta, GA, USA",
	owner = "gonsior",
	timestamp = "2011.10.27"
}

B Gonsior, C Landsiedel, A Glaser, D Wollherr and M Buss. Dialog Strategies for Handling Miscommunication in Task-Related HRI. In Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (Ro-Man). 2011, 369-375. BibTeX

@inproceedings{Gonsior2011a,
	author = "B. Gonsior and C. Landsiedel and A. Glaser and D. Wollherr and M. Buss",
	title = "Dialog Strategies for Handling Miscommunication in Task-Related HRI",
	booktitle = "Proc. of IEEE Int. Symp. on Robot and Human Interactive Communication (Ro-Man)",
	year = 2011,
	pages = "369-375",
	address = "Atlanta, GA, USA",
	owner = "gonsior",
	timestamp = "2012.12.11"
}

B Gonsior, C Landsiedel, N Mirnig, S Sosnowski, E Strasser, J Zlotowski, M Buss, K Kühnlenz, M Tscheligi, A Weiss and D Wollherr. Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI. Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Special Issue on Cognitive Infocommunications 16(2):313-326, 2012. BibTeX

@article{Gonsior2012,
	author = {B. Gonsior and C. Landsiedel and N. Mirnig and S. Sosnowski and E. Strasser and J. Zlotowski and M. Buss and K. K\"uhnlenz and M. Tscheligi and A. Weiss and D. Wollherr},
	title = "Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI",
	journal = "Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Special Issue on Cognitive Infocommunications",
	year = 2012,
	volume = 16,
	pages = "313-326",
	number = 2,
	publisher = "Fuji Technology Press",
	doi = "http://www.fujipress.jp/finder/xslt.php?mode=present\&inputfile=JACII001600020015.xml",
	owner = "gonsior",
	timestamp = "2012.03.19"
}

B Gonsior, M Buß, S Sosnowski, D Wollherr, K Kühnlenz and M Buss. Towards Transferability of Theories on Prosocial Behavior from Social Psychology to HRI. In Proc. of the IEEE Int. Workshop on Advanced Robotics and its Social Impacts (ARSO). 2012, 101-103. BibTeX

@inproceedings{Gonsior2012a,
	author = {B. Gonsior and M. Bu{\ss} and S. Sosnowski and D. Wollherr and K. K\"uhnlenz and M. Buss},
	title = "Towards Transferability of Theories on Prosocial Behavior from Social Psychology to HRI",
	booktitle = "Proc. of the IEEE Int. Workshop on Advanced Robotics and its Social Impacts (ARSO)",
	year = 2012,
	pages = "101-103",
	address = "Munich",
	owner = "gonsior",
	timestamp = "2012.08.20"
}

B Gonsior, S Sosnowski, M Buß, D Wollherr and K Kühnlenz. An Emotional Adaption Approach to increase Helpfulness towards a Robot. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS). 2012, 2429-2436. BibTeX

@inproceedings{Gonsior2012b,
	author = {B. Gonsior and S. Sosnowski and M. Bu{\ss} and D. Wollherr and K. K\"uhnlenz},
	title = "An Emotional Adaption Approach to increase Helpfulness towards a Robot",
	booktitle = "Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)",
	year = 2012,
	pages = "2429-2436",
	owner = "gonsior",
	timestamp = "2012.08.20"
}

Martin Buss, Daniel Carton, Barbara Gonsior, Kolja Kühnlenz, Christian Landsiedel, Nikos Mitsou, Roderick Nijs, Jakub Zlotowski, Stefan Sosnowski, Ewald Strasser, Manfred Tscheligi, Astrid Weiss and Dirk Wollherr. Towards Proactive Human-Robot Interaction in Human Environments. In Proc. of International Conference on Cognitive Infocommunications. 2011. BibTeX

@inproceedings{Buss2011,
	author = {Martin Buss and Daniel Carton and Barbara Gonsior and Kolja K\"uhnlenz and Christian Landsiedel and Nikos Mitsou and Roderick de Nijs and Jakub Zlotowski and Stefan Sosnowski and Ewald Strasser and Manfred Tscheligi and Astrid Weiss and Dirk Wollherr},
	title = "Towards Proactive Human-Robot Interaction in Human Environments",
	booktitle = "Proc. of International Conference on Cognitive Infocommunications",
	year = 2011,
	address = "Budapest",
	owner = "gonsior",
	timestamp = "2011.10.28"
}

Roland Buchner, Astrid Weiss and Manfred Tscheligi. Development of a context model based on video analysis. In HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction. 2011, 117-118. BibTeX

@inproceedings{Buchner2011,
	address = "New York, NY, USA",
	author = "Buchner, Roland and Weiss, Astrid and Tscheligi, Manfred",
	booktitle = "HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction",
	date-added = "2011-01-27 16:29:36 +0100",
	date-modified = "2012-02-27 15:37:32 +0000",
	pages = "117-118",
	publisher = "ACM",
	title = "Development of a context model based on video analysis",
	year = 2011
}

Florian Foerster, Astrid Weiss and Manfred Tscheligi. Anthropomorphic Design for an Interactive Urban Robot - the Right Design Approach?. In HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction. 2011, 137-138. BibTeX

@inproceedings{Foerster2011,
	address = "New York, NY, USA",
	author = "Foerster, Florian and Weiss, Astrid and Tscheligi, Manfred",
	booktitle = "HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction",
	date-added = "2011-01-27 16:29:36 +0100",
	date-modified = "2012-02-27 15:37:32 +0000",
	pages = "137-138",
	publisher = "ACM",
	title = "Anthropomorphic Design for an Interactive Urban Robot - the Right Design Approach?",
	year = 2011
}

N Mirnig, B Gonsior, D Wollherr, A Weiss and M Tscheligi. Feedback in Human-Robot Interaction: How to Display a Robot's Internal System Status. In ICSR 2011: Proceedings of the 3rd International Conference on Social Robotics, Amsterdam, The Netherlands. 2011. BibTeX

@inproceedings{Mirnig2011b,
	author = "Mirnig, N. AND Gonsior, B. AND Wollherr, D. AND Weiss, A. AND Tscheligi, M.",
	booktitle = "ICSR 2011: Proceedings of the 3rd International Conference on Social Robotics, Amsterdam, The Netherlands",
	date-modified = "2012-02-27 15:37:32 +0000",
	owner = "zlotowski",
	timestamp = "2011.12.19",
	title = "Feedback in Human-Robot Interaction: How to Display a Robot's Internal System Status",
	year = 2011
}

N Mirnig, S Riegler, A Weiss and M Tscheligi. A Case Study on the Effect of Feedback on Itinerary Requests in Human-Robot Interaction.. In In Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2011). 2011, 343-349. BibTeX

@inproceedings{Mirnig2011a,
	author = "Mirnig, N. and Riegler, S. and Weiss, A. and Tscheligi, M.",
	booktitle = "In Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2011)",
	date-modified = "2012-02-27 15:37:32 +0000",
	pages = "343-349",
	title = "A Case Study on the Effect of Feedback on Itinerary Requests in Human-Robot Interaction.",
	year = 2011
}

Nicole Mirnig, Astrid Weiss and Manfred Tscheligi. A Communication Structure for Human-Robot Itinerary Requests. In HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction 205-206. 2011. BibTeX

@inproceedings{Mirnig2011,
	address = "New York, NY, USA",
	author = "Mirnig, Nicole and Weiss, Astrid and Tscheligi, Manfred",
	booktitle = "HRI '11: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction",
	date-added = "2011-01-27 16:29:36 +0100",
	date-modified = "2012-02-27 15:37:32 +0000",
	publisher = "ACM",
	title = "A Communication Structure for Human-Robot Itinerary Requests",
	volume = "205-206",
	year = 2011
}

A Weiss, N Mirnig and F Förster. What Users Expect of a Proactive Navigation Robot.. In Position paper for the HRI2011 workshop: The role of expectations in HRI, 2011.. 2011. BibTeX

@inproceedings{Weiss2011c,
	author = {Weiss, A. and Mirnig, N. and F{\"o}rster, F.},
	booktitle = "Position paper for the HRI2011 workshop: The role of expectations in HRI, 2011.",
	date-modified = "2012-02-27 15:37:32 +0000",
	owner = "jakub",
	timestamp = "2011.03.02",
	title = "What Users Expect of a Proactive Navigation Robot.",
	year = 2011
}

Astrid Weiss, Nicole Mirnig, Roland Buchner, Florian Förster and Manfred Tscheligi. Transferring Human-Human Interaction Studies to HRI Scenarios in Public Space. In INTERACT2011: Proceedings of the 13th IFIP TC13 Conference on Human-Computer Interaction. 2011, 230-247. BibTeX

@inproceedings{Weiss2011b,
	author = {Astrid Weiss and Nicole Mirnig and Roland Buchner and Florian F{\"o}rster and Manfred Tscheligi},
	booktitle = "INTERACT2011: Proceedings of the 13th IFIP TC13 Conference on Human-Computer Interaction",
	date-added = "2011-01-27 16:37:56 +0100",
	date-modified = "2012-02-27 15:37:32 +0000",
	pages = "230-247",
	read = 1,
	title = "Transferring Human-Human Interaction Studies to {HRI} Scenarios in Public Space",
	year = 2011
}

J Złotowski, A Weiss and M Tscheligi. Interaction Scenarios for HRI in Public Space. In ICSR 2011: Proceedings of the 3rd International Conference on Social Robotics, Amsterdam, The Netherlands. 2011, 1-10. BibTeX

@inproceedings{Zotowski2011a,
	author = "Z{\l}otowski, J. and Weiss, A. and Tscheligi, M.",
	booktitle = "ICSR 2011: Proceedings of the 3rd International Conference on Social Robotics, Amsterdam, The Netherlands",
	date-modified = "2012-02-27 15:37:32 +0000",
	owner = "zlotowski",
	pages = "1-10",
	timestamp = "2011.09.20",
	title = "Interaction Scenarios for HRI in Public Space",
	year = 2011
}

Jakub Złotowski. Assessing Short-Term Human-Robot Interaction in Public Space.. In In Proceedings of the 13th IFIP TC13 Conference on Human-Computer Interaction (INTERACT 2011). 2011. BibTeX

@inproceedings{Zotowski2011,
	author = "Z{\l}otowski, Jakub",
	booktitle = "In Proceedings of the 13th IFIP TC13 Conference on Human-Computer Interaction (INTERACT 2011)",
	date-modified = "2012-02-27 15:37:33 +0000",
	owner = "jakub",
	timestamp = "2011.06.15",
	title = "Assessing Short-Term Human-Robot Interaction in Public Space.",
	year = 2011
}

Ewald Strasser, Astrid Weiss and Manfred Tscheligi. Affect Misattribution Procedure: An Implicit Technique to Measure User Experience in HRI. In Proceedings of the 7th ACM/IEEE international conference on Human-robot interaction. 2012. BibTeX

@inproceedings{Strasser2012,
	address = "New York, NY, USA",
	author = "Strasser, Ewald and Weiss, Astrid and Tscheligi, Manfred",
	booktitle = "Proceedings of the 7th ACM/IEEE international conference on Human-robot interaction",
	date-added = "2012-01-04 10:49:16 +0100",
	date-modified = "2012-01-04 11:07:55 +0100",
	numpages = 2,
	publisher = "ACM",
	series = "HRI '12",
	title = "Affect Misattribution Procedure: An Implicit Technique to Measure User Experience in HRI",
	year = 2012,
	bdsk-url-1 = "http://doi.acm.org/10.1145/1734454.1734468"
}

J Złotowski, A Weiss and M Tscheligi. Navigating in Public Space: Participants' Evaluation of a Robot's Approach Behavior. In In HRI '12: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction (New York, NY, USA, 2012), ACM. 2012. Accepted for Publication. BibTeX

@inproceedings{Zotowski2012,
	author = "Z{\l}otowski, J. and Weiss, A. and Tscheligi, M.",
	booktitle = "In HRI '12: Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction (New York, NY, USA, 2012), ACM",
	date-modified = "2012-02-03 09:02:37 +0000",
	note = "Accepted for Publication",
	owner = "zlotowski",
	timestamp = "2012.01.09",
	title = "Navigating in Public Space: Participants' Evaluation of a Robot's Approach Behavior",
	year = 2012
}

Daniel Carton, Annemarie Turnwald, Dirk Wollherr and Martin Buss. Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments. In 13th International Symposium on Experimental Robotics (ISER). 2012. BibTeX

@inproceedings{Carton2012,
	author = "Daniel Carton and Annemarie Turnwald and Dirk Wollherr and Martin Buss",
	title = "Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments",
	booktitle = "13th International Symposium on Experimental Robotics (ISER)",
	year = 2012,
	timestamp = "2012.11.23} url = {http://www.lsr.ei.tum.de/fileadmin/publications/carton/ISER2012_0056_c85e39ac6fd0a4db377aa60410745580.pdf"
}

Daniel Carton, Annemarie Turnwald, Kolja Kühnlenz, Dirk Wollherr and Martin Buss. Proactive Human Approach in Dynamic Environments. In International Conference on Intelligent Robots and Systems (IROS). 2012. URL BibTeX

@inproceedings{CartonVideo2012,
	author = "Daniel Carton and Annemarie Turnwald and Kolja Kühnlenz and Dirk Wollherr and Martin Buss",
	title = "Proactive Human Approach in Dynamic Environments",
	booktitle = "International Conference on Intelligent Robots and Systems (IROS)",
	year = 2012,
	url = "http://www.youtube.com/watch?feature=player_embedded&v=mrxUvG34-K8} timestamp = {2012.11.23"
}

Dirk Wollherr Tzafestas C Sheraz Khan Nikos Mitsou. An Optimization approach for 3D environment mapping using normal vector uncertainty. In IEEE International Conference on Control,Automation, Robotics and Vision (ICARCV). 2012. BibTeX

@inproceedings{,
	author = "Sheraz Khan, Nikos Mitsou, Dirk Wollherr, C Tzafestas",
	title = "{An Optimization approach for 3D environment mapping using normal vector uncertainty}",
	booktitle = "IEEE International Conference on Control,Automation, Robotics and Vision (ICARCV)",
	year = 2012
}

Nicole Mirnig, Barbara Gonsior, Stefan Sosnowski, Christian Landsiedel, Dirk Wollherr, Astrid Weiss and Manfred Tscheligi. Feedback Guidelines for Multimodal Human-Robot Interaction: How Should a Robot Give Feedback When Asking for Directions?. In RO-MAN 2012: 21st IEEE International Symposium on Robot and Human Interactive Communication. September 2012, tbd –. BibTeX

@inproceedings{Mirnig2012a,
	address = "Paris, France",
	author = "Mirnig, Nicole and Gonsior, Barbara and Sosnowski, Stefan and Landsiedel, Christian and Wollherr, Dirk and Weiss, Astrid and Tscheligi, Manfred",
	booktitle = "RO-MAN 2012: 21st IEEE International Symposium on Robot and Human Interactive Communication",
	month = "September",
	owner = "NM",
	pages = "tbd --",
	timestamp = "2012.07.10",
	title = "Feedback Guidelines for Multimodal Human-Robot Interaction: How Should a Robot Give Feedback When Asking for Directions?",
	year = 2012
}

N Mirnig, E Strasser, A Weiss and M Tscheligi. Studies in Public Places as a Means to Positively Influence People's Attitude towards Robots. In Proceedings of International Conference on Social Robotics. 2012, 209-218. BibTeX

@inproceedings{Mirnig2012b,
	author = "Mirnig, N. and Strasser, E. and Weiss, A. and Tscheligi, M.",
	booktitle = "Proceedings of International Conference on Social Robotics",
	date-added = "2012-11-23 09:55:14 +0000",
	date-modified = "2012-11-23 09:56:21 +0000",
	pages = "209-218",
	title = "Studies in Public Places as a Means to Positively Influence People's Attitude towards Robots",
	year = 2012
}

M Van~den~Bergh and L Van~Gool. Real-time Stereo and Flow-based Video Segmentation with Superpixels. In Proceedings of the IEEE Workshop on Applications of Computer Vision (WACV). 2012, 89-96. BibTeX

@inproceedings{mvdb2012,
	author = "M. {V}an~den~Bergh and L. {V}an~Gool",
	title = "Real-time Stereo and Flow-based Video Segmentation with Superpixels",
	booktitle = "Proceedings of the IEEE Workshop on Applications of Computer Vision (WACV)",
	pages = "89-96",
	year = 2012
}

M Van~den~Bergh, X Boix, G Roig, B Capitani and L Van~Gool. SEEDS: Superpixels Extracted via Energy-Driven Sampling. In Proceedings of the European Conference on Computer Vision (ECCV). 2012, 13-26. BibTeX

@inproceedings{seeds2012,
	author = "M. {V}an~den~Bergh and X. Boix and G. Roig and B. de Capitani and L. {V}an~Gool",
	title = "{S}{E}{E}{D}{S}: Superpixels Extracted via Energy-Driven Sampling",
	booktitle = "Proceedings of the European Conference on Computer Vision (ECCV)",
	pages = "13-26",
	year = 2012
}

Nima Razavi, Juergen Gall, Pushmeet Kohli and L Van~Gool. Notice: Undefined index: title in /var/www/iuro/plugins/content/bibtex/references.php on line 444 . BibTeX

@inproceedings{eth_biwi_00924,
	author = "Nima Razavi and Juergen Gall and Pushmeet Kohli and L. {V}an~Gool"
}

X Boix, J M Gonfaus, J Van de Weijer, A D Bagdanov, J Serrat and J Gonzalez. Harmony Potentials: Fusing Global and Local Scale for Semantic Image Segmentation. International Journal of Computer Vision 96(1):83–102, 2012. BibTeX

@article{Boix12IJCV,
	author = "Boix, X. and Gonfaus, J. M. and Van de Weijer, J. and Bagdanov, A. D. and Serrat, J. and Gonzalez, J.",
	title = "Harmony Potentials: Fusing Global and Local Scale for Semantic Image Segmentation",
	year = 2012,
	journal = "International Journal of Computer Vision",
	volume = 96,
	number = 1,
	pages = "83--102"
}

R Nijs, S Ramos, G Roig, X Boix, L Van Gool and K Kühnlenz. On-line Semantic Perception Using Uncertainty. In IROS. 2012. BibTeX

@inproceedings{Nijs12IROS,
	author = {de Nijs, R. and Ramos, S. and Roig, G. and Boix, X. and Van Gool, L. and K\"uhnlenz, K.},
	title = "On-line Semantic Perception Using Uncertainty",
	year = 2012,
	booktitle = "IROS"
}

X Boix, G Roig and L Van Gool. Nested Sparse Quantization for Efficient Feature Coding. In ECCV. 2012. BibTeX

@inproceedings{Boix12ECCV,
	author = "Boix, X. and Roig, G. and Van Gool, L.",
	title = "Nested Sparse Quantization for Efficient Feature Coding",
	year = 2012,
	booktitle = "ECCV"
}

A Yao, J Gall and Van L Gool. Coupled Action Recognition and Pose Estimation from Multiple Views. International Journal of Computer Vision (IJCV) 100(1):16-37, 2012. BibTeX

@article{Yao12ijcv,
	author = "A. Yao and J. Gall and L. {Van Gool}",
	title = "Coupled Action Recognition and Pose Estimation from Multiple Views",
	journal = "International Journal of Computer Vision (IJCV)",
	year = 2012,
	volume = 100,
	number = 1,
	pages = "16-37"
}

A Yao, J Gall, C Leistner and Van L Gool. Interactive Object Detection. In CVPR. 2012. BibTeX

@inproceedings{Yao12cvpr,
	title = "Interactive Object Detection",
	author = "A. Yao and J. Gall and C. Leistner and L. {Van Gool}",
	booktitle = "CVPR",
	year = 2012
}