MES: A Helping Elderly Escort Interactive System Based on Reverse Active Integration of Multimodal Intentions

Table 1

Comparison between related work and MES.

Work	Multimodal identification	Unconstrained command	Unconstrained recognition space	Equality of interactive participation	Scalability	Recognition effect (reaches more than 90%)
[7]	✗	✗	✗	✗	✓	✓
[8]	✗	✓	✓	✗	✗	✗
[9]	✗	✗	✓	✗	✓	✓
[10]	✗	✓	✓	✗	✓	✓
[13]	✓	—	✓	—	✗	✓
[14]	✓	✓	✓	✗	✓	✗
[15]	✓	✓	✗	✗	✓	✗
[16, 17]	✓	✓	✗	✗	✗	✓
[19]	✗	✗	✗	✓	✗	✓
[20]	✓	—	✗	✓	✗	✓
[21]	✗	✗	✗	✓	✗	✓
[22]	✓	✗	✓	✓	✓	✓
MES	✓	✓	✓	✓	✓	✓