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

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルAn Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications
出版者Springer Verlag
ページ453-462
ページ数10
ISBN(印刷物)9783642373732
DOI
出版物ステータスPublished - 2013 1 1
イベント1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
継続期間: 2012 12 162012 12 18

出版物シリーズ

名前Advances in Intelligent Systems and Computing
208 AISC
ISSN(印刷物)2194-5357

Other

Other1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
Korea, Republic of
Gwangju
期間12/12/1612/12/18

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

これを引用

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. : 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; 巻数 208 AISC). Springer Verlag. https://doi.org/10.1007/978-3-642-37374-9_44