Sound and visual tracking for humanoid robot

Hiroshi G. Okuno, Kazuhiro Nakadai, Tino Lourens, Hiroaki Kitano

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Mobile robots with auditory perception usually adopt “stop- perceive-act” principle to avoid sounds made during moving due to motor noises or bumpy roads. Although this principle reduces the complexity of the problems involved auditory processing for mobile robots, it restricts their capabilities of auditory processing. In this paper, sound and visual tracking is investigated to attain robust object tracking by compensating each drawbacks in tracking objects. Visual tracking may be difficult in case of occlusion, while sound tracking may be ambiguous in localization due to the nature of auditory processing. For this purpose, we present an active audition system for a humanoid robot. The audition system of the intelligent humanoid requires localization of sound sources and identification of meanings of the sound in the auditory scene. The active audition reported in this paper focuses on improved sound source tracking by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG the humanoid actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. The system adaptively cancels motor noise using motor control signals. The experimental result demonstrates the effectiveness and robustness of sound and visual tracking.

本文言語English
ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版社Springer Verlag
ページ640-650
ページ数11
2070
ISBN(印刷版)3540422196, 9783540422198
出版ステータスPublished - 2001
外部発表はい
イベント14th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 2001 - Budapest, Hungary
継続期間: 2001 6 42001 6 7

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
2070
ISSN(印刷版)03029743
ISSN(電子版)16113349

Other

Other14th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 2001
国/地域Hungary
CityBudapest
Period01/6/401/6/7

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 理論的コンピュータサイエンス

フィンガープリント

「Sound and visual tracking for humanoid robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル