Paper Info
Title
Real-time sound source localization and separation for robot audition
Abstract
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 fil- ter (ADPF) to separate sounds originating from the specified di- rection 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 geometryon demand. Since the performance of the ADPF depends on the direction, the ADPF controls the direc- tion 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 loud- ness is improved to about 10 dB from 0 dB.
Year
Venue
Keywords
2002
INTERSPEECH
sound source localization,reference data,signal to noise ratio,real time
Field
DocType
Citations 
Reference data (financial markets),Loudness,Reverberation,Epipolar geometry,Computer science,Speech recognition,Gigabit Ethernet,Hierarchical INTegration,Robot,Acoustic source localization
Conference
35
PageRank 
References 
Authors
3.58
9
3
Name
Order
Citations
PageRank
Kazuhiro Nakadai11342155.91
Hiroshi G. Okuno22092233.19
Hiroaki Kitano33515539.37