Real-time sound source localization and separation for robot audition

Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano

研究成果: Conference contribution

73 引用 (Scopus)

抜粋

Robot audition in the real world should cope with environment noises and reverberation and motor noises caused by the robot's own movements. This paper presents the active direction-pass filter (ADPF) to separate sounds originating from the specified direction with a pair of microphones. The ADPF is implemented by hierarchical integration of visual and auditory processing with hypothetical reasoning on interaural phase difference (IPD) and interaural intensity difference (IID) for each subband. In creating hypotheses, the reference data of IPD and IID is calculated by the auditory epipolar geometry on demand. Since the performance of the ADPF depends on the direction, the ADPF controls the direction by motor movement. The human tracking and sound source separation based on the ADPF is implemented on an upper-torso humanoid and runs in real-time with 4 PCs connected over Gigabit ethernet. The signal-to-noise ratio (SNR) of each sound separated by the ADPF from a mixture of two speeches with the same loudness is improved to about 10 dB from 0 dB.

元の言語English
ホスト出版物のタイトル7th International Conference on Spoken Language Processing, ICSLP 2002
出版者International Speech Communication Association
ページ193-196
ページ数4
出版物ステータスPublished - 2002
外部発表Yes
イベント7th International Conference on Spoken Language Processing, ICSLP 2002 - Denver, United States
継続期間: 2002 9 162002 9 20

Other

Other7th International Conference on Spoken Language Processing, ICSLP 2002
United States
Denver
期間02/9/1602/9/20

    フィンガープリント

ASJC Scopus subject areas

  • Language and Linguistics
  • Linguistics and Language

これを引用

Nakadai, K., Okuno, H. G., & Kitano, H. (2002). Real-time sound source localization and separation for robot audition. : 7th International Conference on Spoken Language Processing, ICSLP 2002 (pp. 193-196). International Speech Communication Association.