Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

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

    7 Citations (Scopus)

    Abstract

    This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.

    Original languageEnglish
    Title of host publicationSSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Print)9781509019595
    DOIs
    Publication statusPublished - 2016 Mar 29
    EventIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015 - West Lafayette, United States
    Duration: 2015 Oct 182015 Oct 20

    Other

    OtherIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015
    CountryUnited States
    CityWest Lafayette
    Period15/10/1815/10/20

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Safety Research

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  • Cite this

    Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., Nakadai, K., Yoshii, K., & Okuno, H. G. (2016). Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array. In SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics [7442949] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2015.7442949