Real-time sound source localization and separation for robot audition

Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano

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

73 Citations (Scopus)

Abstract

Robot audition in the real world should cope with environment noises and reverberation and motor noises caused by the robot's own movements. This paper presents the active direction-pass filter (ADPF) to separate sounds originating from the specified direction with a pair of microphones. The ADPF is implemented by hierarchical integration of visual and auditory processing with hypothetical reasoning on interaural phase difference (IPD) and interaural intensity difference (IID) for each subband. In creating hypotheses, the reference data of IPD and IID is calculated by the auditory epipolar geometry on demand. Since the performance of the ADPF depends on the direction, the ADPF controls the direction by motor movement. The human tracking and sound source separation based on the ADPF is implemented on an upper-torso humanoid and runs in real-time with 4 PCs connected over Gigabit ethernet. The signal-to-noise ratio (SNR) of each sound separated by the ADPF from a mixture of two speeches with the same loudness is improved to about 10 dB from 0 dB.

Original languageEnglish
Title of host publication7th International Conference on Spoken Language Processing, ICSLP 2002
PublisherInternational Speech Communication Association
Pages193-196
Number of pages4
Publication statusPublished - 2002
Externally publishedYes
Event7th International Conference on Spoken Language Processing, ICSLP 2002 - Denver, United States
Duration: 2002 Sep 162002 Sep 20

Other

Other7th International Conference on Spoken Language Processing, ICSLP 2002
CountryUnited States
CityDenver
Period02/9/1602/9/20

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ASJC Scopus subject areas

  • Language and Linguistics
  • Linguistics and Language

Cite this

Nakadai, K., Okuno, H. G., & Kitano, H. (2002). Real-time sound source localization and separation for robot audition. In 7th International Conference on Spoken Language Processing, ICSLP 2002 (pp. 193-196). International Speech Communication Association.