Novel scheme of real-time direction finding and tracking of multiple speakers by robot-embedded microphone array

Daobilige Su, Masashi Sekikawa, Kazuo Nakazawa, Nozomu Hamada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, interest on artificial robot audition is growing for developing human-robot interaction. The main purposes of an artificial audio system mounted on mobile robot are localizing sound sources, separating speech signal that is relevant to a particular speaker such as robot's master, and processing speech sources to extract useful information such as master's uttering commands. This paper reports a novel proposed method of a speaker's direction tracking algorithm, and a realization of the real tracking system on a mobile robot. Basic approach of this study belongs to a category of direction finding known as sparseness-based one which employs time-frequency decomposition and disjoint property between different speech signals. The novel points in the proposed source tracking exist on a reliable data selection from time-frequency cells and the application of mean shift tracking to the kernel density estimator derived from these reliable time-frequency components. A wheel-based mobile robot is developed and built-in audio processing system. Experiments are conducted and demonstrate the ability to localize in real environments.

Original languageEnglish
Title of host publicationAn Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications
PublisherSpringer Verlag
Pages453-462
Number of pages10
ISBN (Print)9783642373732
DOIs
Publication statusPublished - 2013 Jan 1
Event1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
Duration: 2012 Dec 162012 Dec 18

Publication series

NameAdvances in Intelligent Systems and Computing
Volume208 AISC
ISSN (Print)2194-5357

Other

Other1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
CountryKorea, Republic of
CityGwangju
Period12/12/1612/12/18

Keywords

  • kernel density estimator
  • mean shift tracking
  • microphone array
  • robot audition
  • sound source localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • Cite this

    Su, D., Sekikawa, M., Nakazawa, K., & Hamada, N. (2013). Novel scheme of real-time direction finding and tracking of multiple speakers by robot-embedded microphone array. In An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications (pp. 453-462). (Advances in Intelligent Systems and Computing; Vol. 208 AISC). Springer Verlag. https://doi.org/10.1007/978-3-642-37374-9_44