Real-Time multiple speaker tracking by multi-modal integration for mobile robots

Kazuhiro Nakadai, Ken Ichi Hidai, Hiroshi G. Okuno, Hiroaki Kitano

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

15 Citations (Scopus)

Abstract

In this paper, real-Time multiple speaker tracking is addressed, because it is essential in robot perception and humanrobot social interaction. The difficulty lies in treating a mixture of sounds, occlusion (some talkers are hidden) and real-Time processing. Our approach consists of three components; (1) the extraction of the direction of each speaker by using interaural phase difference and interaural intensity difference, (2) the resolution of each speaker's direction by multi-modal integration of audition, vision and motion with canceling inevitable motor noises in motion in case of an unseen or silent speaker, and (3) the distributed implementation to three PCs connected by TCP/IP network to attain real-Time processing. As a result, we attain robust real-Time speaker tracking with 200 ms delay in a non-Anechoic room, even when multiple speakers exist and the tracking person is visually occluded.

Original languageEnglish
Title of host publicationEUROSPEECH 2001 - SCANDINAVIA - 7th European Conference on Speech Communication and Technology
PublisherInternational Speech Communication Association
Pages1193-1196
Number of pages4
ISBN (Electronic)8790834100, 9788790834104
Publication statusPublished - 2001
Externally publishedYes
Event7th European Conference on Speech Communication and Technology - Scandinavia, EUROSPEECH 2001 - Aalborg, Denmark
Duration: 2001 Sep 32001 Sep 7

Other

Other7th European Conference on Speech Communication and Technology - Scandinavia, EUROSPEECH 2001
CountryDenmark
CityAalborg
Period01/9/301/9/7

ASJC Scopus subject areas

  • Communication
  • Linguistics and Language
  • Computer Science Applications
  • Software

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