Step-size parameter adaptation of multi-channel semi-blind ICA with piecewise linear model for barge-in-able robot audition

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

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

5 Citations (Scopus)

Abstract

This paper describes a step-size parameter adaptation technique of multi-channel semi-blind independent component analysis (MCSB-ICA) for a "barge-in-able" robot audition system. By "barge-in", we mean that the user can speak simultaneously when the robot is speaking. We focused on MCSB-ICA to achieve such an audition system because it can separate a user's and a robot's speech under reverberant environments. The problem with MCSB-ICA for robot audition is the slow speed of convergence in estimating a separation filter due to its step-size parameters. Many optimization methods cannot be adopted because their computational costs are proportional to the 2nd order of the reverberation time. Our method yields adaptive step-size parameters with MCSB-ICA at low computational costs. It is based on three techniques; 1) recursive expression of the separation process, 2) a piecewise linear model of the step-size of the separation filter, and 3) adaptive step-size parameters with a sub-ICA-filter. Experimental results show that our approach attains faster convergence speed and lower computational costs than those with a fixed step-size parameter.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2277-2282
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Externally publishedYes
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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    Takeda, R., Nakadai, K., Takahashi, T., Komatani, K., Ogata, T., & Okuno, H. G. (2009). Step-size parameter adaptation of multi-channel semi-blind ICA with piecewise linear model for barge-in-able robot audition. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2277-2282). [5354527] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354527