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Noise generated due to the motion of a robot deteriorates the quality of the desired sounds recorded by robot-embedded microphones. On top of that, a moving robot is also vulnerable to its loud fan noise that changes its orientation relative to the moving limbs where the microphones are mounted on. To tackle the non-stationary ego-motion noise and the direction changes of fan noise, we propose an...
We describe a speech system for commanding robots in human-occupied outdoor military supply depots. To operate in such environments, the robots must be as easy to interact with as are humans, i.e. they must reliably understand ordinary spoken instructions, such as orders to move supplies, as well as commands and warnings, spoken or shouted from distances of tens of meters. These design goals preclude...
This paper describes a DSP integration of sound source localization (SSL) and multi-channel Wiener filter (MWF). To develop a robot audition system, we integrated SSL module and MWF module into a DSP system. SSL is a module to perceive the direction of a human user's call. It measures time delay of arrival among microphones and estimates the direction of sound source. Also, it post-processes the resulted...
In normal human communication, people face the speaker when listening and usually pay attention to the speakerpsila face. Therefore, in robot audition, the recognition of the front talker is critical for smooth interactions. This paper presents an enhanced speech detection method for a humanoid robot that can separate and recognize speech signals originating from the front even in noisy home environments...
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