Low latency and high quality two-stage human-voice-enhancement system for a hose-shaped rescue robot

Yoshiaki Bando, Hiroshi Saruwatari, Nobutaka Ono, Shoji Makino, Katustoshi Itoyama, Daichi Kitamura, Masaru Ishimura, Moe Takakusaki, Narumi Mae, Kouei Yamaoka, Yutaro Matsui, Yuichi Ambe, Masashi Konyo, Satoshi Tadokoro, Kazuyoshi Yoshii, Hiroshi G. Okuno

    Research output: Contribution to journalArticle

    6 Citations (Scopus)

    Abstract

    This paper presents the design and implementation of a two-stage human-voice enhancement system for a hose-shaped rescue robot. When a microphoneequipped hose-shaped robot is used to search for a victim under a collapsed building, human-voice enhancement is crucial because the sound captured by a microphone array is contaminated by the ego-noise of the robot. For achieving both low latency and high quality, our system combines online and offline human-voice enhancement, providing an overview first and then details on demand. The online enhancement is used for searching for a victim in real time, while the offline one facilitates scrutiny by listening to highly enhanced human voices. Our online enhancement is based on an online robust principal component analysis, and our offline enhancement is based on an independent lowrank matrix analysis. The two enhancement methods are integrated with Robot Operating System (ROS). Experimental results showed that both the online and offline enhancement methods outperformed conventional methods.

    Original languageEnglish
    Pages (from-to)198-212
    Number of pages15
    JournalJournal of Robotics and Mechatronics
    Volume29
    Issue number1
    DOIs
    Publication statusPublished - 2017 Feb 1

    Fingerprint

    Hose
    Robots
    Microphones
    Principal component analysis
    Acoustic waves

    Keywords

    • Blind human-voice enhancement
    • Hose-shaped rescue robot
    • Robot audition
    • Search and rescue

    ASJC Scopus subject areas

    • Computer Science(all)
    • Electrical and Electronic Engineering

    Cite this

    Low latency and high quality two-stage human-voice-enhancement system for a hose-shaped rescue robot. / Bando, Yoshiaki; Saruwatari, Hiroshi; Ono, Nobutaka; Makino, Shoji; Itoyama, Katustoshi; Kitamura, Daichi; Ishimura, Masaru; Takakusaki, Moe; Mae, Narumi; Yamaoka, Kouei; Matsui, Yutaro; Ambe, Yuichi; Konyo, Masashi; Tadokoro, Satoshi; Yoshii, Kazuyoshi; Okuno, Hiroshi G.

    In: Journal of Robotics and Mechatronics, Vol. 29, No. 1, 01.02.2017, p. 198-212.

    Research output: Contribution to journalArticle

    Bando, Y, Saruwatari, H, Ono, N, Makino, S, Itoyama, K, Kitamura, D, Ishimura, M, Takakusaki, M, Mae, N, Yamaoka, K, Matsui, Y, Ambe, Y, Konyo, M, Tadokoro, S, Yoshii, K & Okuno, HG 2017, 'Low latency and high quality two-stage human-voice-enhancement system for a hose-shaped rescue robot', Journal of Robotics and Mechatronics, vol. 29, no. 1, pp. 198-212. https://doi.org/10.20965/jrm.2017.p0198
    Bando, Yoshiaki ; Saruwatari, Hiroshi ; Ono, Nobutaka ; Makino, Shoji ; Itoyama, Katustoshi ; Kitamura, Daichi ; Ishimura, Masaru ; Takakusaki, Moe ; Mae, Narumi ; Yamaoka, Kouei ; Matsui, Yutaro ; Ambe, Yuichi ; Konyo, Masashi ; Tadokoro, Satoshi ; Yoshii, Kazuyoshi ; Okuno, Hiroshi G. / Low latency and high quality two-stage human-voice-enhancement system for a hose-shaped rescue robot. In: Journal of Robotics and Mechatronics. 2017 ; Vol. 29, No. 1. pp. 198-212.
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