Speedup and performance improvement of ica-based robot audition by parallel and resampling-based block-wise processing

Ryu Takeda, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

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

2 Citations (Scopus)

Abstract

This paper describes a speedup and performance improvement of multi-channel semi-blind ICA (MCSB-ICA) with parallel and resampling-based block-wise processing. MCSB-ICA is an integrated method of sound source separation that accomplishes blind source separation, blind dereverberation, and echo cancellation. This method enables robots to separate user's speech signals from observed signals including the robot's own speech, other speech and their reverberations without a priori information. The main problem when MCSB-ICA is applied to robot audition is its high computational cost. We tackle this by multi-threading programming, and the two main issues are 1) the design of parallel processing and 2) incremental implementation. These are solved by a) multiple-stack-based parallel implementation, and b) resampling-based overlaps and block-wise separation. The experimental results proved that our method reduced the real-time factor to less than 0.5 with an eight-core CPU, and it improves the performance of automatic speech recognition by 2.10 points compared with the single-stack-based parallel implementation without the resampling technique.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages1949-1956
Number of pages8
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Takeda, R., Nakadai, K., Takahashi, T., Komatani, K., Ogata, T., & Okuno, H. G. (2010). Speedup and performance improvement of ica-based robot audition by parallel and resampling-based block-wise processing. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1949-1956). [5652757] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652757