Paper Info
Title
Design and Implementation of Robot Audition System 'HARK' - Open Source Software for Listening to Three Simultaneous Speakers
Abstract
This paper presents the design and implementation of the HARK robot audition software system consisting of sound source localization modules, sound source separation modules and automatic speech recognition modules of separated speech signals that works on any robot with any microphone configuration. Since a robot with ears may be deployed to various auditory environments, the robot audition system should provide an easy way to adapt to them. HARK provides a set of modules to cope with various auditory environments by using an open-sourced middleware, FlowDesigner, and reduces the overheads of data transfer between modules. HARK has been open-sourced since April 2008. The resulting implementation of HARK with MUSIC-based sound source localization, GSS-based sound source separation and Missing Feature Theory-based automatic speech recognition on Honda ASIMO, SIG2 and Robovie R2 attains recognizing three simultaneous utterances with the delay of 1.9 s at the word correct rate of 80-90% for three speakers. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
Year
DOI
Venue
2010
10.1163/016918610X493561
ADVANCED ROBOTICS
Keywords
Field
DocType
Robot audition,open source software,sound source localization,sound source separation,automatic speech recognition
Middleware,ASIMO,Data transmission,Computer science,Active listening,Software system,Speech recognition,Robot,Microphone,Acoustic source localization
Journal
Volume
Issue
ISSN
24
5-6
0169-1864
Citations 
PageRank 
References 
78
3.86
20
Authors
6
Name
Order
Citations
PageRank
Kazuhiro Nakadai11342155.91
toru takahashi233739.39
Hiroshi G. Okuno32092233.19
Hirofumi Nakajima418614.77
Yuji Hasegawa530421.96
Hiroshi Tsujino654251.16