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Sound source localization (SSL) is a major function of robot auditory systems for intelligent home robots. The steered response power-phase transform (SRP-PHAT) is a widely used method for robust SSL. However, it is too slow to run in real time, since SRP-PHAT searches a large number of candidate sound source locations. This paper proposes a search space clustering method designed to speed up the...
This paper proposes a combined scheme in which adaptive beamforming and acoustic echo canceller are integrated in order to achieve a robust full-duplex speech interface between user and mobile robot. In particular, this paper addresses the situation in which an echo signal and the userpsilas voice are propagated from the same direction toward a linear array of microphones. We propose a cascading scheme...
This paper introduces a home robot application of multi-channel based spatial noise reduction for creating human-robot speech interfaces. A microphone array is employed first to create a speech-only directional conduit, which is realized through adaptive beamforming. Through the directional conduit, the intended speech signal from the desired direction is processed for detection and recognition, while...
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