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 filter (ADPF) to separate sounds originating from the specified direction 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 geometry on demand. Since the performance of the ADPF depends on the direction, the ADPF controls the direction by motor movement. The human tracking and sound source separation based on the ADPF is implemented on an upper-torso humanoid and runs in realtime 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 loudness is improved to about 10 dB from 0 dB.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Aloimonos, Y., Weiss, I., AND Bandyopadhyay., A. Active vision. International Journal of Computer Vision 1, 4 (1987), 333–356.
Asano, F., Goto, M., Itou, K., AND Asoh, H. Real-time sound source localization and separation system and its application to automatic speech recognition. Proc. of International Conf. on Speech Processing (Eurospeech 2001), ESCA, 1013–1016.
Bell, A.J., AND Sejnowski, T.J. An information-maximization approach to blind separation and blind deconvolution. Neural Computation 7, 6 (Jun 1995), 1129–1159.
Breazeal, C., AND Scassellati, B. A context-dependent attention system for a social robot. Proc. of 16th Intern’l Joint Conf. on Atificial Intelligence (IJCAI-1999), 1146–1151.
Hidai, K., Mizoguchi, H., Hiraoka, K., Tanaka, M., Shigehara, T., AND Mishima, T. Robust face detection against brightness fluctuation and size variation. Proc. of IEEE/RAS Intern’l Conf. on Intelligent Robots and Systems (IROS 2000), IEEE, 1397–1384.
Hiraoka, K., Hamahira, M., Hidai, K., Mizoguchi, H., Yoshizawa, S. Fast algorithm for online linear discriminant analysis. Proc. of ITC-2000, IEEE, 274–277.
Matsusaka, Y., Tojo, T., Kuota, S., Furukawa, K., Tamiya, D., Hayata, K., Nakano, Y., AND Kobayashi, T. Multi-person conversation via multi-modal interface—a robot who communicates with multi-user. Proc. of 6th European Conf. on Speech Communication Technology (EUROSPEECH-1999), ESCA, 1723–1726.
Mizumachi, M., AND Akagi, M. Noise reduction by paired-microphones using spectral subtraction. Proc. of 1998 Intern’l Conf. on Acoustics, Speech, and Signal Processing (ICASSP-98) (1998), IEEE, 1113–1116.
Nakadai, K., Lourens, T., Okuno, H.G., AND Kitano, H. Active audition for humanoid. Proc. of 17th National Conf. on Artificial Intelligence (AAAI-2000), 832–839.
Nakadai, K., Hidai, K., Mizoguchi, H., Okuno, H.G., AND Kitano, H. Real-time auditory and visual multiple-object tracking for robots. Proc. of 17th Intern’l Joint Conf. on Artificial Intelligence (IJCAI-2001), IJCAI, 1425–1432.
Nakadai, K., Okuno, H.G., Kitano, H. Exploiting auditory fovea in humanoid-human interaction. Proc. of 18th National Conf. on Artificial Intelligence (AAAI-2002), 431–438.
Okuno, H., Nakadai, K., Hidai, K., Mizoguchi, H., AND Kitano, H. Human-robot non-verbal interaction empowered by real-time auditory and visual multiple-talker tracking. Advanced Robotics 17, 2 (2003), in print.
Saruwatari, H., Kajita, S., Takeda, K., AND Itakura, F. Speech enhancement using nonlinear microphone array based on complementary beamforming. IEICE Trans. Fundamentals E82-E, 8 (Aug. 1999), 1501–1510.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Okuno, H.G., Nakadai, K. (2003). Real-time Sound Source Localization and Separation based on Active Audio-Visual Integration. In: Mira, J., Álvarez, J.R. (eds) Computational Methods in Neural Modeling. IWANN 2003. Lecture Notes in Computer Science, vol 2686. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44868-3_16
Download citation
DOI: https://doi.org/10.1007/3-540-44868-3_16
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40210-7
Online ISBN: 978-3-540-44868-6
eBook Packages: Springer Book Archive