Design and implementation of selectable sound separation on the texai telepresence system using HARK

Takeshi Mizumoto, Kazuhiro Nakadai, Takami Yoshida, Ryu Takeda, Takuma Otsuka, Toru Takahashi, Hiroshi G. Okuno

研究成果: Conference contribution

27 被引用数 (Scopus)

抄録

This paper presents the design and implementation of selectable sound separation functions on the telepresence system "Texai" using the robot audition software "HARK." An operator of Texai can "walk" around a faraway office to attend a meeting or talk with people through video-conference instead of meeting in person. With a normal microphone, the operator has difficulty recognizing the auditory scene of the Texai, e.g., he/she cannot know the number and the locations of sounds. To solve this problem, we design selectable sound separation functions with 8 microphones in two modes, overview and filter modes, and implement them using HARK's sound source localization and separation. The overview mode visualizes the direction-of-arrival of surrounding sounds, while the filter mode provides sounds that originate from the range of directions he/she specifies. The functions enable the operator to be aware of a sound even if it comes from behind the Texai, and to concentrate on a particular sound. The design and implementation was completed in five days due to the portability of HARK. Experimental evaluations with actual and simulated data show that the resulting system localizes sound sources with a tolerance of 5 degrees.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2130-2137
ページ数8
DOI
出版ステータスPublished - 2011
外部発表はい
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
継続期間: 2011 5 92011 5 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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