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This paper proposes a sound identification method for a mobile robot in home and office environment. We propose a simple sound database called Pitch-Cluster-Maps(PCMs) based on Vector Quantization approach. Binarized frequency spectrum is used for PCMs codebook generation. It can describe a variety of sound sources, not only voice, from short term sound input. The proposed PCMs sound identification...
This paper describes a particle filter based sound source mapping system that builds 2D sound source maps from directional sound readings taken from a mobile robot. The method uses a sound source localization model that is represented by Gaussian distribution for both direction and distance. To do this, accurate directional localization of sound sources is required, and two key components have been...
This paper describes a speech recognition system that detects basic voice commands for a mobile robot operating in a home space. The system recognizes arbitrary timed speech with position information in a noisy housing environment. The microphone array is attached to the ceiling, and localizes sound source direction in azimuth and elevation, then separates multiple sound sources using delay and sum...
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