Sound and visual tracking for humanoid robot

Hiroshi G. Okuno, Kazuhiro Nakadai, Tino Lourens, Hiroaki Kitano

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

2 Citations (Scopus)

Abstract

Mobile robots with auditory perception usually adopt “stop- perceive-act” principle to avoid sounds made during moving due to motor noises or bumpy roads. Although this principle reduces the complexity of the problems involved auditory processing for mobile robots, it restricts their capabilities of auditory processing. In this paper, sound and visual tracking is investigated to attain robust object tracking by compensating each drawbacks in tracking objects. Visual tracking may be difficult in case of occlusion, while sound tracking may be ambiguous in localization due to the nature of auditory processing. For this purpose, we present an active audition system for a humanoid robot. The audition system of the intelligent humanoid requires localization of sound sources and identification of meanings of the sound in the auditory scene. The active audition reported in this paper focuses on improved sound source tracking by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG the humanoid actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. The system adaptively cancels motor noise using motor control signals. The experimental result demonstrates the effectiveness and robustness of sound and visual tracking.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages640-650
Number of pages11
Volume2070
ISBN (Print)3540422196, 9783540422198
Publication statusPublished - 2001
Externally publishedYes
Event14th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 2001 - Budapest, Hungary
Duration: 2001 Jun 42001 Jun 7

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2070
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other14th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 2001
CountryHungary
CityBudapest
Period01/6/401/6/7

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Okuno, H. G., Nakadai, K., Lourens, T., & Kitano, H. (2001). Sound and visual tracking for humanoid robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2070, pp. 640-650). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2070). Springer Verlag.