  Many attempts have been made at estimating discrete emotions (calmness,
anxiety, boredom, surprise, anger) and continuous emotional measures commonly
used in psychology, namely `valence' (The pleasantness of the emotion being
displayed) and `arousal' (The intensity of the emotion being displayed).
Existing methods to estimate arousal and valence rely on learning from data
sets, where an expert annotator labels every image frame. Access to an expert
annotator is not always possible, and the annotation can also be tedious. Hence
it is more practical to obtain self-reported arousal and valence values
directly from the human in a real-time Human-Robot collaborative setting. Hence
this paper provides an emotion data set (HRI-AVC) obtained while conducting a
human-robot interaction (HRI) task. The self-reported pair of labels in this
data set is associated with a set of image frames. This paper also proposes a
spatial and temporal attention-based network to estimate arousal and valence
from this set of image frames. The results show that an attention-based network
can estimate valence and arousal on the HRI-AVC data set even when Arousal and
Valence values are unavailable per frame.

Human-Computer Interaction