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.
| 元の言語 | 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 |
| 巻 | 18 |
| 発行部数 | 2 |
| DOI | |
| 出版物ステータス | Published - 2003 |
| 外部発表 | Yes |
Fingerprint
ASJC Scopus subject areas
- Artificial Intelligence
これを引用
Issues in humanoid audition and sound source localization by active audition. / Nakadai, Kazuhiro; Okuno, Hiroshi G.; Kitano, Hiroaki.
：: Transactions of the Japanese Society for Artificial Intelligence, 巻 18, 番号 2, 2003, p. 104-113.研究成果: Article
}
TY - JOUR
T1 - Issues in humanoid audition and sound source localization by active audition
AU - Nakadai, Kazuhiro
AU - Okuno, Hiroshi G.
AU - Kitano, Hiroaki
PY - 2003
Y1 - 2003
N2 - 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.
AB - 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.
KW - Active audition
KW - Noise cancelation
KW - Perception
KW - Robots
KW - Sensor fusion
UR - http://www.scopus.com/inward/record.url?scp=18444394920&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=18444394920&partnerID=8YFLogxK
U2 - 10.1527/tjsai.18.104
DO - 10.1527/tjsai.18.104
M3 - Article
AN - SCOPUS:18444394920
VL - 18
SP - 104
EP - 113
JO - Transactions of the Japanese Society for Artificial Intelligence
JF - Transactions of the Japanese Society for Artificial Intelligence
SN - 1346-0714
IS - 2
ER -