抄録
In this paper we propose the integration of an online audio beat tracking system into the general framework of robot audition, to enable its application in musically-interactive robotic scenarios. To this purpose, we introduced a staterecovery mechanism into our beat tracking algorithm, for handling continuous musical stimuli, and applied different multi-channel preprocessing algorithms (e.g., beamforming, ego noise suppression) to enhance noisy auditory signals lively captured in a real environment. We assessed and compared the robustness of our audio beat tracker through a set of experimental setups, under different live acoustic conditions of incremental complexity. These included the presence of continuous musical stimuli, built of a set of concatenated musical pieces; the presence of noises of different natures (e.g., robot motion, speech); and the simultaneous processing of different audio sources on-the-fly, for music and speech. We successfully tackled all these challenging acoustic conditions and improved the beat tracking accuracy and reaction time to music transitions while simultaneously achieving robust automatic speech recognition.
本文言語 | English |
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ホスト出版物のタイトル | IEEE International Conference on Intelligent Robots and Systems |
ページ | 992-997 |
ページ数 | 6 |
DOI | |
出版ステータス | Published - 2012 |
外部発表 | はい |
イベント | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve 継続期間: 2012 10月 7 → 2012 10月 12 |
Other
Other | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 |
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City | Vilamoura, Algarve |
Period | 12/10/7 → 12/10/12 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用