Issues in humanoid audition and sound source localization by active audition

Kazuhiro Nakadai*, Hiroshi G. Okuno, Hiroaki Kitano

*この研究の対応する著者

研究成果: Article査読

1 被引用数 (Scopus)

抄録

In this paper, we present an active audition system which is implemented on the humanoid robot "SIG the humanoid". The audition system for highly intelligent humanoids localizes sound sources and recognizes auditory events in the auditory scene. Active audition reported in this paper enables SIG to track sources by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. However, such an active head movement inevitably creates motor noises.The system adaptively cancels motor noises using motor control signals and the cover acoustics. The experimental result demonstrates that active audition by integration of audition, vision, and motor control attains sound source tracking in variety of conditions.onditions.

本文言語English
ページ(範囲)104-113
ページ数10
ジャーナルTransactions of the Japanese Society for Artificial Intelligence
18
2
DOI
出版ステータスPublished - 2003
外部発表はい

ASJC Scopus subject areas

  • 人工知能

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