Sound source localization using binaural difference for hose-shaped rescue robot

Narumi Mae, Yoshiki Mitsui, Shoji Makino, Daichi Kitamura, Nobutaka Ono, Takeshi Yamada, Hiroshi Saruwatari

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

1 Citation (Scopus)

Abstract

Rescue robots have been developed for search and rescue operations in times of large-scale disasters. Such a robot is used to search for survivors in disaster sites by capturing their voices with its microphone array. However, since the robot has many vibration motors, ego noise is mixed with voices, and it is difficult to differentiate the ego noise from a call for help from a disaster survivor. In our previous works, an ego noise reduction technique that combines a method of blind source separation called independent low-rank matrix analysis and postprocessing for noise cancellation was proposed. In the practical use of this robot, to determine the precise location of survivors, the direction of the observed voice should be estimated after the ego noise reduction process. To achieve this objective, in this study, a new hose-shaped rescue robot with microphone arrays was developed. Moreover, we adapt postfilter called MOSIE to our previous noise reduction method to listen to stereo sound because this robot can record stereo sound. By performing in a simulated disaster site, we confirm that the operator can perceive the direction of a survivor's location by applying a speech enhancement technique combining independent low-rank matrix analysis, noise cancellation, and postfiltering to the observed multichannel noisy signals.

Original languageEnglish
Title of host publicationProceedings - 9th Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1621-1627
Number of pages7
ISBN (Electronic)9781538615423
DOIs
Publication statusPublished - 2018 Feb 5
Externally publishedYes
Event9th Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2017 - Kuala Lumpur, Malaysia
Duration: 2017 Dec 122017 Dec 15

Publication series

NameProceedings - 9th Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2017
Volume2018-February

Other

Other9th Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2017
CountryMalaysia
CityKuala Lumpur
Period17/12/1217/12/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Information Systems
  • Signal Processing

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