{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T08:59:28Z","timestamp":1773392368475,"version":"3.50.1"},"reference-count":146,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2020,5,31]],"date-time":"2020-05-31T00:00:00Z","timestamp":1590883200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100007515","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-1527759, DGE-1650112"],"award-info":[{"award-number":["IIS-1527759, DGE-1650112"]}],"id":[{"id":"10.13039\/100007515","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2020,9,30]]},"abstract":"<jats:p>The robotics community continually strives to create robots that are deployable in real-world environments. Often, robots are expected to interact with human groups. To achieve this goal, we introduce a new method, the Robot-Centric Group Estimation Model (RoboGEM), which enables robots to detect groups of people. Much of the work reported in the literature focuses on dyadic interactions, leaving a gap in our understanding of how to build robots that can effectively team with larger groups of people. Moreover, many current methods rely on exocentric vision, where cameras and sensors are placed externally in the environment, rather than onboard the robot. Consequently, these methods are impractical for robots in unstructured, human-centric environments, which are novel and unpredictable. Furthermore, the majority of work on group perception is supervised, which can inhibit performance in real-world settings. RoboGEM addresses these gaps by being able to predict social groups solely from an egocentric perspective using color and depth (RGB-D) data. To achieve group predictions, RoboGEM leverages joint motion and proximity estimations. We evaluated RoboGEM against a challenging, egocentric, real-world dataset where both pedestrians and the robot are in motion simultaneously, and show RoboGEM outperformed two state-of-the-art supervised methods in detection accuracy by up to 30%, with a lower miss rate. Our work will be helpful to the robotics community, and serve as a milestone to building unsupervised systems that will enable robots to work with human groups in real-world environments.<\/jats:p>","DOI":"10.1145\/3375798","type":"journal-article","created":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T04:26:35Z","timestamp":1590985595000},"page":"1-21","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":31,"title":["Robot-Centric Perception of Human Groups"],"prefix":"10.1145","volume":"9","author":[{"given":"Angelique","family":"Taylor","sequence":"first","affiliation":[{"name":"University of California San Diego, CA"}]},{"given":"Darren M.","family":"Chan","sequence":"additional","affiliation":[{"name":"University of California San Diego, CA"}]},{"given":"Laurel D.","family":"Riek","sequence":"additional","affiliation":[{"name":"University of California San Diego, CA"}]}],"member":"320","published-online":{"date-parts":[[2020,5,31]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Retrieved","year":"2019"},{"key":"e_1_2_1_2_1","volume-title":"Proceedings of the International Conference on Electrical and Computer Engineering (ICECE). IEEE, 120--123","author":"Masum A. Al"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2012.28"},{"key":"e_1_2_1_4_1","volume-title":"International Conference on Computer Vision (ICCV). IEEE, 786--793","author":"Amer M. R."},{"key":"e_1_2_1_5_1","volume-title":"Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 1378--1385","author":"Ammirato Phil"},{"key":"e_1_2_1_6_1","doi-asserted-by":"crossref","unstructured":"P. Arbel\u00e1ez J. Pont-Tuset J. T. Barron F. Marques and J. Malik. 2014. Multiscale combinatorial grouping. In Computer Vision and Pattern Recognition (CVPR). 328--335.  P. Arbel\u00e1ez J. Pont-Tuset J. T. Barron F. Marques and J. Malik. 2014. Multiscale combinatorial grouping. In Computer Vision and Pattern Recognition (CVPR). 328--335.","DOI":"10.1109\/CVPR.2014.49"},{"key":"e_1_2_1_7_1","volume-title":"International Conference on Robotics and Automation (ICRA). IEEE, 1710--1715","author":"Arras K. O."},{"key":"e_1_2_1_8_1","doi-asserted-by":"crossref","unstructured":"K. O. Arras B. Lau S. Grzonka M. Luber O. M. Mozos D. Meyer-Delius and W. Burgard. 2012. Range-based people detection and tracking for socially enabled service robots.Towards Service Robots for Everyday Environments 76 (2012) 235--280.  K. O. Arras B. Lau S. Grzonka M. Luber O. M. Mozos D. Meyer-Delius and W. Burgard. 2012. Range-based people detection and tracking for socially enabled service robots.Towards Service Robots for Everyday Environments 76 (2012) 235--280.","DOI":"10.1007\/978-3-642-25116-0_18"},{"key":"e_1_2_1_9_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 3425--3434","author":"Bagautdinov T. M."},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.2307\/2786318"},{"key":"e_1_2_1_11_1","volume-title":"Conference on Computer Vision and Pattern Recognition (CVPR). IEEE","author":"Bazzani L."},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2014.2353641"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.012"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2015.2409731"},{"key":"e_1_2_1_15_1","volume-title":"Proceedings of the Winter Conference on Applications of Computer Vision (WACV). IEEE, 626--633","author":"Bettadapura V."},{"key":"e_1_2_1_16_1","volume-title":"Proceedings of the 40th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO). IEEE, 564--569","author":"Br\u0161\u010di\u0107 D."},{"key":"e_1_2_1_17_1","volume-title":"Proceedings of the Seventh Annual ACM\/IEEE International Conference on Human-Robot Interaction. 343--350","author":"Caine K."},{"key":"e_1_2_1_18_1","first-page":"1312","article-title":"CPMC: Automatic object segmentation using constrained parametric min-cuts","volume":"7","author":"Carreira J.","year":"2011","journal-title":"IEEE Transactions on Pattern Analysis 8 Machine Intelligence"},{"key":"e_1_2_1_19_1","volume-title":"British Machine Vision Conference (BMVC).","author":"Chamveha I."},{"key":"e_1_2_1_20_1","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS). IEEE, 4152--4158","author":"Chan D."},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126312"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2012.6343857"},{"key":"e_1_2_1_23_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Social Norms in Robotics and HRI.","author":"Chatterjee I."},{"key":"e_1_2_1_24_1","volume-title":"European Conference on Computer Vision. Springer, 417--433","author":"Choi W."},{"key":"e_1_2_1_25_1","volume-title":"European Conference on Computer Vision. Springer, 215--230","author":"Choi W."},{"key":"e_1_2_1_26_1","volume-title":"Proceedings of the 12th International Conference on Computer Vision Workshops, ICCV Workshops. IEEE, 1282--1289","author":"Choi W."},{"key":"e_1_2_1_27_1","volume-title":"CVPR","author":"Choi W.","year":"2011"},{"key":"e_1_2_1_28_1","unstructured":"H. Christensen. 2016. A roadmap for US robotics from Internet to robotics 2016 edition. Sponsored by National Science Foundation 8 University of California San Diego (2016).  H. Christensen. 2016. A roadmap for US robotics from Internet to robotics 2016 edition. Sponsored by National Science Foundation 8 University of California San Diego (2016)."},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.024"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.024"},{"key":"e_1_2_1_31_1","volume-title":"Proceedings of the Computer Society Conference on Computer Vision and Pattern Recognition","volume":"1","author":"Dalal N."},{"key":"e_1_2_1_32_1","unstructured":"J. Deng A. Berg S. Satheesh H. Su A. Khosla and L. Fei-Fei. 2012. Imagenet large scale visual recognition competition 2012 (ILSVRC2012). See net.org\/challenges\/LSVRC.  J. Deng A. Berg S. Satheesh H. Su A. Khosla and L. Fei-Fei. 2012. Imagenet large scale visual recognition competition 2012 (ILSVRC2012). See net.org\/challenges\/LSVRC."},{"key":"e_1_2_1_33_1","volume-title":"Imagenet: A large-scale hierarchical image database. In Computer Vision and Pattern Recognition (CVPR)","author":"Deng J.","year":"2009"},{"key":"e_1_2_1_34_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 4772--4781","author":"Deng Z."},{"key":"e_1_2_1_35_1","doi-asserted-by":"crossref","unstructured":"Z. Deng M. Zhai L. Chen Y. Liu S. Muralidharan M. J. Roshtkhari and G Mori. 2015. Deep structured models for group activity recognition. arXiv preprint arXiv:1506.04191 (2015).  Z. Deng M. Zhai L. Chen Y. Liu S. Muralidharan M. J. Roshtkhari and G Mori. 2015. Deep structured models for group activity recognition. arXiv preprint arXiv:1506.04191 (2015).","DOI":"10.5244\/C.29.179"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.155"},{"key":"e_1_2_1_37_1","volume-title":"Proceedings of the European Conference on Computer Vision. Springer, 575--588","author":"Endres I."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.167"},{"key":"e_1_2_1_39_1","volume-title":"Proceedings of the 2015 IEEE Winter Conference on Applications of Computer Vision (WACV). IEEE, 109--116","author":"Feng L."},{"key":"e_1_2_1_40_1","volume-title":"Proceedings of the International Conference on Social Robotics. Springer, 194--203","author":"Fiore M."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.5244\/C.27.66"},{"key":"e_1_2_1_42_1","volume-title":"International Workshop on Performance Evaluation of Tracking and Surveillance (PETS). IEEE, 29--36","author":"Foggia P."},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2015.02.008"},{"key":"e_1_2_1_44_1","volume-title":"In 26th International Symposium on Robot and Human Interactive Communication. IEEE.","author":"Fraune M.","year":"2017"},{"key":"e_1_2_1_45_1","volume-title":"International Conference on Computer Vision Theory and Applications (VISAPP)","volume":"2","author":"Garate C."},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912459278"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.176"},{"key":"e_1_2_1_48_1","volume-title":"Proceedings of the Computer Vision and Pattern Recognition (CVPR)","volume":"2","author":"Gennari G."},{"key":"e_1_2_1_49_1","volume-title":"Fast R-CNN. In Proceedings of the IEEE International Conference on Computer Vision. 1440--1448","author":"Girshick R.","year":"2015"},{"key":"e_1_2_1_50_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 580--587","author":"Girshick R."},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1561\/1100000005"},{"key":"e_1_2_1_52_1","unstructured":"E. T. Hall. 1966. The Hidden Dimension Vol. 609. Doubleday Garden City NY.  E. T. Hall. 1966. The Hidden Dimension Vol. 609. Doubleday Garden City NY."},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1177\/0018720811417254"},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020228"},{"key":"e_1_2_1_55_1","volume-title":"25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 246--252","author":"Hayes C. J."},{"key":"e_1_2_1_56_1","volume-title":"Proceedings of the European Conference on Computer Vision. Springer, 346--361","author":"He K."},{"key":"e_1_2_1_57_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 1971--1980","author":"Ibrahim M. S."},{"key":"e_1_2_1_58_1","volume-title":"IEEE Conference on Computer Vision and Pattern Recognition (CVPR).","author":"Ilg E."},{"key":"e_1_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2570240"},{"key":"e_1_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAFFC.2015.2445335"},{"key":"e_1_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2673864"},{"key":"e_1_2_1_62_1","doi-asserted-by":"crossref","unstructured":"Tariq Iqbal and Laurel D. Riek. 2017. Human-robot teaming: Approaches from joint action and dynamical systems. Humanoid Robotics: A Reference (2017) 2293--2312.  Tariq Iqbal and Laurel D. Riek. 2017. Human-robot teaming: Approaches from joint action and dynamical systems. Humanoid Robotics: A Reference (2017) 2293--2312.","DOI":"10.1007\/978-94-007-6046-2_137"},{"key":"e_1_2_1_63_1","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA). IEEE, 5636--5643","author":"Jafari O. H."},{"key":"e_1_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF02278710"},{"key":"e_1_2_1_65_1","volume-title":"Proceedings of the 10th Annual ACM\/IEEE International Conference on Human-Robot Interaction. ACM, 229--236","author":"Jung M. F."},{"key":"e_1_2_1_66_1","volume-title":"Companion of the 2017 ACM Conference on Computer Supported Cooperative Work and Social Computing (CSCW\u201917 Companion). ACM","author":"Jung M. F."},{"key":"e_1_2_1_67_1","first-page":"983","article-title":"Averting robot eyes","volume":"76","author":"Kaminski M. E.","year":"2017","journal-title":"Maryland Law Review"},{"key":"e_1_2_1_68_1","volume-title":"Proceeding of 4th International Symposium on New Frontiers in Human-Robot Interaction.","author":"Karreman D."},{"key":"e_1_2_1_69_1","volume-title":"Conducting Interaction: Patterns of Behavior in Focused Encounters.","author":"Kendon A.","year":"1990"},{"key":"e_1_2_1_70_1","doi-asserted-by":"crossref","unstructured":"S. D. Khan G. Vizzari S. Bandini and S. Basalamah. 2015. Detection of social groups in pedestrian crowds using computer vision. In Advanced Concepts for Intelligent Vision Systems. Springer.  S. D. Khan G. Vizzari S. Bandini and S. Basalamah. 2015. Detection of social groups in pedestrian crowds using computer vision. In Advanced Concepts for Intelligent Vision Systems. Springer.","DOI":"10.1007\/978-3-319-25903-1_22"},{"key":"e_1_2_1_71_1","unstructured":"A. Krizhevsky I. Sutskever and G. E. Hinton. 2012. Imagenet classification with deep convolutional neural networks. In Advances in Neural Information Processing Systems. 1097--1105.  A. Krizhevsky I. Sutskever and G. E. Hinton. 2012. Imagenet classification with deep convolutional neural networks. In Advances in Neural Information Processing Systems. 1097--1105."},{"key":"e_1_2_1_72_1","volume-title":"Proceedings of the International Conference of Robotics and Automation (ICRA)","author":"Kubota A.","year":"2019"},{"key":"e_1_2_1_73_1","volume-title":"Proceedings of the 5th ACM\/IEEE International Conference on Human-Robot Interaction. IEEE Press, 285--292","author":"Kuzuoka H."},{"key":"e_1_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907298"},{"key":"e_1_2_1_75_1","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA). IEEE, 3180--3185","author":"Lau B."},{"key":"e_1_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-009-0036-0"},{"key":"e_1_2_1_77_1","doi-asserted-by":"crossref","unstructured":"A. LaViers L. Bai M. Bashiri G. Heddy and Y. Sheng. 2016. Abstractions for design-by-humans of heterogeneous behaviors. In Dance Notations and Robot Motion. Springer 237--262.  A. LaViers L. Bai M. Bashiri G. Heddy and Y. Sheng. 2016. Abstractions for design-by-humans of heterogeneous behaviors. In Dance Notations and Robot Motion. Springer 237--262.","DOI":"10.1007\/978-3-319-25739-6_11"},{"key":"e_1_2_1_78_1","volume-title":"Computer Vision Workshops (ICCV). IEEE.","author":"Leal-Taix\u00e9 L."},{"key":"e_1_2_1_79_1","volume-title":"Proceedings of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction. ACM, 244--253","author":"Lee H. R."},{"key":"e_1_2_1_80_1","volume-title":"Computer Graphics Forum","volume":"26","author":"Lerner A."},{"key":"e_1_2_1_81_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.05.045"},{"key":"e_1_2_1_82_1","volume-title":"Proceedings of the European Conference on Computer Vision. Springer, 740--755","author":"Lin T."},{"key":"e_1_2_1_83_1","volume-title":"Proceedings of the 17th International Conference on Information Fusion (FUSION). IEEE, 1--7.","author":"Linder T."},{"key":"e_1_2_1_84_1","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA). IEEE, 5512--5519","author":"Linder T."},{"key":"e_1_2_1_85_1","volume-title":"International Symposium on Robot and Human Interactive Communication (RO-MAN)","author":"Lorenz T.","year":"2011"},{"key":"e_1_2_1_86_1","volume-title":"Robotics: Science and systems (RSS).","author":"Luber M.","year":"2013"},{"key":"e_1_2_1_87_1","volume-title":"Proceedings of the Robotics, Science, and Systems (RSS) Workshop on AI and Its Alternatives for Shared Autonomy in Assistive and Collaborative Robotics","author":"Matsumoto S.","year":"2019"},{"key":"e_1_2_1_88_1","volume-title":"Proceedings of the International Conference on Advanced Video and Signal Based Surveillance (AVSS). IEEE, 202--207","author":"Mazzon R."},{"key":"e_1_2_1_89_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9572-2"},{"key":"e_1_2_1_90_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0010047"},{"key":"e_1_2_1_91_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, 692--697","author":"Mucientes M."},{"key":"e_1_2_1_92_1","volume-title":"Proceedings of the 6th International Conference on Human-Robot Interaction. ACM, 331--338","author":"Mumm J."},{"key":"e_1_2_1_93_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2101--2107","author":"Munaro M."},{"key":"e_1_2_1_94_1","volume-title":"Proceedings of the Conference on Computer Vision and Pattern Recognition Workshops (CVPRW). IEEE, 980--987","author":"Nigam J."},{"key":"e_1_2_1_95_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2014.05.008"},{"key":"e_1_2_1_96_1","volume-title":"Proceedings of the 11th IEEE International Conference and Workshops on Automatic Face and Gesture Recognition (FG)","author":"O\u2019Connor M.","year":"2015"},{"key":"e_1_2_1_97_1","volume-title":"Pacific-Rim Symposium on Image and Video Technology. Springer, 431--442","author":"Okamoto M."},{"key":"e_1_2_1_98_1","volume-title":"Proceedings of the 2009 IEEE 12th International Conference on Computer Vision. IEEE, 261--268","author":"Pellegrini S."},{"key":"e_1_2_1_99_1","volume-title":"Computer Vision","author":"Pellegrini S."},{"key":"e_1_2_1_100_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2004.1400815"},{"key":"e_1_2_1_101_1","unstructured":"Z. Qin and C. R. Shelton. 2012. Improving multi-target tracking via social grouping. In Computer Vision and Pattern Recognition (CVPR). IEEE.  Z. Qin and C. R. Shelton. 2012. Improving multi-target tracking via social grouping. In Computer Vision and Pattern Recognition (CVPR). IEEE."},{"key":"e_1_2_1_102_1","volume-title":"5th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 1104--1111","author":"Ram\u00edrez O. A. I."},{"key":"e_1_2_1_103_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 779--788","author":"Redmon J."},{"key":"e_1_2_1_104_1","doi-asserted-by":"crossref","unstructured":"J. Redmon and A. Farhadi. 2017. YOLO9000: Better faster stronger. arXiv preprint (2017).  J. Redmon and A. Farhadi. 2017. YOLO9000: Better faster stronger. arXiv preprint (2017).","DOI":"10.1109\/CVPR.2017.690"},{"key":"e_1_2_1_105_1","unstructured":"J. Redmon and A. Farhadi. 2018. Yolov3: An incremental improvement. arXiv preprint arXiv:1804.02767 (2018).  J. Redmon and A. Farhadi. 2018. Yolov3: An incremental improvement. arXiv preprint arXiv:1804.02767 (2018)."},{"key":"e_1_2_1_106_1","unstructured":"S. Ren K. He R. Girshick and J. Sun. 2015. Faster R-CNN: Towards real-time object detection with region proposal networks. In Advances in Neural Information Processing Systems. 91--99.  S. Ren K. He R. Girshick and J. Sun. 2015. Faster R-CNN: Towards real-time object detection with region proposal networks. In Advances in Neural Information Processing Systems. 91--99."},{"key":"e_1_2_1_107_1","volume-title":"Proceedings of Robotics: Science, and Systems (RSS), Robotics Challenges and Visions","author":"Riek L. D.","year":"2013"},{"key":"e_1_2_1_108_1","doi-asserted-by":"crossref","unstructured":"L. D. Riek. 2015. Robotics technology in mental health care. Artificial Intelligence in Behavioral and Mental Health Care (2015) 185.  L. D. Riek. 2015. Robotics technology in mental health care. Artificial Intelligence in Behavioral and Mental Health Care (2015) 185.","DOI":"10.1016\/B978-0-12-420248-1.00008-8"},{"key":"e_1_2_1_109_1","doi-asserted-by":"crossref","unstructured":"L. D. Riek. 2017. Healthcare robotics. Commun. ACM (2017) 68--78.  L. D. Riek. 2017. Healthcare robotics. Commun. ACM (2017) 68--78.","DOI":"10.1145\/3127874"},{"key":"e_1_2_1_110_1","volume-title":"International Conference on Social Robotics. Springer, 231--241","author":"Rossi S."},{"key":"e_1_2_1_111_1","volume-title":"IEEE International Conference on Pattern Recognition Workshops","volume":"2","author":"Ryoo M. S."},{"key":"e_1_2_1_112_1","volume-title":"Proceedings of the 10th Annual ACM\/IEEE International Conference on Human-Robot Interaction. ACM, 295--302","author":"Ryoo M. S."},{"key":"e_1_2_1_113_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2730--2737","author":"Ryoo M. S."},{"key":"e_1_2_1_114_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.3.1.Sabanovic"},{"key":"e_1_2_1_115_1","volume-title":"Proceedings of the 16th International Conference on Humanoid Robots (Humanoids). IEEE, 495--501","author":"Schneider S."},{"key":"e_1_2_1_116_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2015.7351338"},{"key":"e_1_2_1_117_1","volume-title":"Proceedings of the ACM\/IEEE international Conference on Human-Robot Interaction. ACM, 121--128","author":"Shiomi M."},{"key":"e_1_2_1_118_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","volume":"2","author":"Shu T."},{"key":"e_1_2_1_119_1","volume-title":"International Conference on Computer Vision Workshops (ICCV). IEEE, 830--837","author":"\u0160ochman J."},{"key":"e_1_2_1_120_1","volume-title":"Proceedings of the International Conference on Image Analysis and Processing. Springer, 542--551","author":"Solera F."},{"key":"e_1_2_1_121_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2015.2470658"},{"key":"e_1_2_1_122_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 3838--3843","author":"Spinello L."},{"key":"e_1_2_1_123_1","volume-title":"Proceedings of the International Conference on Computer Vision Workshops (ICCV).","author":"Stefano P."},{"key":"e_1_2_1_124_1","volume-title":"Proceedings of the International Conference on Computer Vision Systems (ICVS). Springer, 11--20","author":"Sudowe P."},{"key":"e_1_2_1_125_1","volume-title":"Proceedings of the 4th ACM\/IEEE International Conference on Human Robot Interaction. ACM, 45--52","author":"Sung J."},{"key":"e_1_2_1_126_1","volume-title":"International Conference on Intelligent Robots and Systems (IROS). IEEE, 5495--5502","author":"Takayama L."},{"key":"e_1_2_1_127_1","unstructured":"A. Taylor D. Chan and L. D. Riek. 2018. Robot-centric perception of human groups. In review. (2018).  A. Taylor D. Chan and L. D. Riek. 2018. Robot-centric perception of human groups. In review. (2018)."},{"key":"e_1_2_1_128_1","volume-title":"Proceedings of Computer Supported Cooperative Work (CSCW)","author":"Taylor A.","year":"2019"},{"key":"e_1_2_1_129_1","volume-title":"AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction Technical Report","volume":"4","author":"Taylor A.","year":"2017"},{"key":"e_1_2_1_130_1","volume-title":"13th Annual ACM\/IEEE International Conference on Human-Robot Interaction, Social Robots in the Wild Workshop. IEEE.","author":"Taylor A."},{"key":"e_1_2_1_131_1","volume-title":"Spencer: A socially aware service robot for passenger guidance and help in busy airports. In Field and Service Robotics","author":"Triebel R.","year":"2016"},{"key":"e_1_2_1_132_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.05.004"},{"key":"e_1_2_1_133_1","volume-title":"Proceedings of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201917)","author":"V\u00e1zquez M.","year":"2020"},{"key":"e_1_2_1_134_1","volume-title":"Proceedings of the 10th Annual International Conference on Human-Robot Interaction Extended Abstracts. ACM, 9--10","author":"V\u00e1zquez M."},{"key":"e_1_2_1_135_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 3010--3017","author":"V\u00e1zquez M."},{"key":"e_1_2_1_136_1","volume-title":"24th International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 394--399","author":"Vroon J."},{"key":"e_1_2_1_137_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2013.124"},{"key":"e_1_2_1_138_1","volume-title":"Proceedings of the 2017 IEEE International Conference on Image Processing (ICIP). IEEE, 3645--3649","author":"Wojke N."},{"key":"e_1_2_1_139_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2766--2771","author":"Yang S. A.","year":"2017"},{"key":"e_1_2_1_140_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 952--960","author":"Yu H."},{"key":"e_1_2_1_141_1","doi-asserted-by":"publisher","DOI":"10.3390\/s130100875"},{"key":"e_1_2_1_142_1","volume-title":"International Workshop on Behaviour Analysis and Video Understanding (ICVS","author":"Zaidenberg S.","year":"2011"},{"key":"e_1_2_1_143_1","volume-title":"Proceedings of British Machine Vision Conference. 111--1.","author":"Zanotto M."},{"key":"e_1_2_1_144_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 1259--1267","author":"Zhang S."},{"key":"e_1_2_1_145_1","volume-title":"Proceedings of the 5th ACM on International Conference on Multimedia Retrieval. ACM, 475--478","author":"Zhang Y."},{"key":"e_1_2_1_146_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2013.2253476"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3375798","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3375798","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T22:38:15Z","timestamp":1750199895000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3375798"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,31]]},"references-count":146,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,9,30]]}},"alternative-id":["10.1145\/3375798"],"URL":"https:\/\/doi.org\/10.1145\/3375798","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,31]]},"assertion":[{"value":"2018-07-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-12-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-05-31","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}