Humanoid active audition system improved by the cover acoustics

Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

Perception system for humanoid should be active, e.g., by moving its body or controlling parameters of sensors such as cameras or microphones, to perceive environments better. This paper focuses on active audition, whose main problem is to suppress internal sounds made by humanoid movements. Otherwise, such sounds would deteriorate the performance of auditory processing. Our 4-degree-of-freedom (DOF) humanoid, called SIG, has a cover to enclose internal sounds from the outside. SIG has a pair of left and right microphones to collect internal sounds and another pair to collect external sounds originating from the outside of SIG. A simple strategy of choosing a subband of external sounds if sounds from internal microphones in the same subband is weaker than those from external microphones sometimes fails in internal sound cancellation due to resonance within the cover. In this paper, we report the design of internal sound cancellation system to enhance external sounds. First, the acoustic characteristic of the humanoid cover is measured to make a model of each motor movement. Then, an adaptive filter is designed based on the model by taking movement commands into accounts. Experiments show that this cancellation system enhances external sounds and SIG can track and localize sound sources during its movement.

本文言語English
ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ページ544-554
ページ数11
1886 LNAI
出版ステータスPublished - 2000
外部発表はい
イベント6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000 - Melbourne, VIC
継続期間: 2000 8 282000 9 1

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
1886 LNAI
ISSN(印刷版)03029743
ISSN(電子版)16113349

Other

Other6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000
CityMelbourne, VIC
Period00/8/2800/9/1

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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