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As robotic technology plays an increasing role in human lives, ??robot audition??, human-robot communication, is of great interest, and robot audition needs to be robust and adaptable for dynamic environments. This paper addresses sound source localization working in dynamic environments for robots. Previously, noise robustness and dynamic localized sound selection have been enormous issues for practical...
This paper addresses sound source separation and speech recognition for moving sound sources. Real-world applications such as robots should cope with both moving and stationary sound sources. However, most studies assume only stationary sound sources. We introduce two key techniques to cope with moving sources, that is, Adaptive Step-size control (AS) and Optima Controlled Recursive Average (OCRA)...
Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving human-robot interaction. The critical issue in robot audition is real-time processing in noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents open-source robot audition software, called ldquoHARKrdquo, which...
This paper describes a novel sound source separation method for a robot that needs to cope with dynamically changing noises in the real world. The sound source separation method, Geometric Source Separation (GSS), is promising because it has high separation performance and requires low computational cost. One of the most important factors in GSS performance is a step-size parameter to update a separation...
This paper describes a method to adaptively control a step-size parameter which is used for updating a separation matrix to extract a target sound source accurately in blind source separation (BSS). The design of the step-size parameter is essential when we apply BSS to real-world applications such as robot audition systems, because the surrounding environment dynamically changes in the real world...
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