Target speech detection and separation for humanoid robots in sparse dialogue with noisy home environments

Hyun Don Kim, Jinsung Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

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

12 Citations (Scopus)

Abstract

In normal human communication, people face the speaker when listening and usually pay attention to the speaker' face. Therefore, in robot audition, the recognition of the front talker is critical for smooth interactions. This paper presents an enhanced speech detection method for a humanoid robot that can separate and recognize speech signals originating from the front even in noisy home environments. The robot audition system consists of a new type of voice activity detection (VAD) based on the complex spectrum circle centroid (CSCC) method and a maximum signal-to-noise (Max-SNR) beamformer. This VAD based on CSCC can classify speech signals that are retrieved at the frontal region of two microphones embedded on the robot. The system works in real-time without needing training filter coefficients given in advance even in a noisy environment (SNR > 0 dB). It can cope with speech noise generated from televisions and audio devices that does not originate from the center. Experiments using a humanoid robot, SIG2, with two microphones showed that our system enhanced extracted target speech signals more than 12 dB (SNR) and the success rate of automatic speech recognition for Japanese words was increased about 17 points.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1705-1711
Number of pages7
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Kim, H. D., Kim, J., Komatani, K., Ogata, T., & Okuno, H. G. (2008). Target speech detection and separation for humanoid robots in sparse dialogue with noisy home environments. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1705-1711). [4650977] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650977