Robot auditory system using head-mounted square microphone array

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

5 Citations (Scopus)

Abstract

A new noise reduction method suitable for autonomous mobile robots was proposed and applied to preprocessing of a hands-free spoken dialogue system. When a robot talks with a conversational partner in real environments, not only speech utterances by the partner but also various types of noise, such as directional noise, diffuse noise, and noise from the robot, are observed at microphones. We attempted to remove these types of noise simultaneously with small and light-weighted devices and low-computational-cost algorithms. We assumed that the conversational partner of the robot was in front of the robot. In this case, the aim of the proposed method is extracting speech signals coming from the frontal direction of the robot. The proposed noise reduction system was evaluated in the presence of various types of noise: the number of word errors was reduced by 69 % as compared to the conventional methods. The proposed robot auditory system can also cope with the case in which a conversational partner (i.e., a sound source) moves from the front of the robot: the sound source was localized by face detection and tracking using facial images obtained from a camera mounted on an eye of the robot. As a result, various types of noise could be reduced in real time, irrespective of the sound source positions, by combining speech information with image information.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2736-2741
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Hosoya, K., Ogawa, T., & Kobayashi, T. (2009). Robot auditory system using head-mounted square microphone array. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2736-2741). [5354090] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354090