Robot audition: Missing feature theory approach and active audition

Hiroshi G. Okuno, Kazuhiro Nakadai, Hyun Don Kim

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

Robot capability of listening to several things at once by its own ears, that is,robot audition, is important in improving interaction and symbiosis between humans and robots. The critical issue in robot audition is real-time processing and robustness against noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents two important aspects of robot audition; Missing-Feature-Theory (MFT) approach and active audition. HARK open-source robot audition incorporates MFT approach to recognize speech signals that are localized and separated from a mixture of sound captured by 8- channel microphone array. HARK is ported to four robots, Honda ASIMO, SIG2, Robovie-R2 and HRP-2, with different microphone configurations and recognizes three simultaneous utterances with 1.9 sec latency. In binaural hearing, the most famous problem is a front-back confusion of sound sources. Active binaural robot audition implemented on SIG2 disambiguates the problem well by rotating its head with pitting. This active audition improves the localization for the periphery.

本文言語English
ホスト出版物のタイトルSpringer Tracts in Advanced Robotics
ページ227-244
ページ数18
70
STAR
DOI
出版ステータスPublished - 2011
外部発表はい
イベント14th International Symposium of Robotic Research, ISRR 2009 - Lucerne
継続期間: 2009 8 312009 9 3

出版物シリーズ

名前Springer Tracts in Advanced Robotics
番号STAR
70
ISSN(印刷版)16107438
ISSN(電子版)1610742X

Other

Other14th International Symposium of Robotic Research, ISRR 2009
CityLucerne
Period09/8/3109/9/3

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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