Abstract | ||
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In this paper we address the problem of recognizing everyday sound events in indoor environments with a consumer robot. Sounds are represented in the spectro-temporal domain using the stabilized auditory image (SAI) representation. The SAI is well suited for representing pulse-resonance sounds and has the interesting property of mapping a time-varying signal into a fixed-dimension feature vector space. This allows us to map the sound recognition problem into a supervised classification problem and to adopt a variety of classifications schemes. We present a complete system that takes as input a continuous signal, splits it into significant isolated sounds and noise, and classifies the isolated sounds using a catalogue of learned sound-event classes. The method is validated with a large set of audio data recorded with a humanoid robot in a house. Extended experiments show that the proposed method achieves state-of-the-art recognition scores with a twelve-class problem, while requiring extremely limited memory space and moderate computing power. A first real-time embedded implementation in a consumer robot show its ability to work in real conditions. |
Year | DOI | Venue |
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2012 | 10.1109/HUMANOIDS.2012.6651506 | Humanoid Robots |
Keywords | Field | DocType |
audio signal processing,humanoid robots,image representation,robot vision,signal classification,vectors,SAI representation,audio data recording,catalogue,companion humanoid,consumer robot,fixed-dimension feature vector space,humanoid robot,indoor environments,learned sound-event classes,pulse-resonance sound representation,sound-event recognition,spectro-temporal domain,stabilized auditory image representation,supervised classification problem,time-varying signal mapping,twelve-class problem | Sound recognition,Computer vision,Feature vector,Continuous signal,Computer science,Image representation,Speech recognition,Artificial intelligence,Audio signal processing,Robot,Event recognition,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2164-0572 | 11 | 0.71 |
References | Authors | |
9 | 4 |
Name | Order | Citations | PageRank |
---|---|---|---|
Maxime Janvier | 1 | 21 | 1.41 |
Xavier Alameda-Pineda | 2 | 232 | 28.24 |
Laurent Girin | 3 | 473 | 53.76 |
Radu Horaud | 4 | 2776 | 261.99 |