NDLI: Real-Time Robot Audition System That Recognizes Simultaneous Speech in The Real World

Content Provider	IEEE Xplore Digital Library
Author	Yamamoto, S. Nakadai, K. Nakano, M. Tsujino, H. Valin, J.-M. Komatani, K. Ogata, T. Okuno, H.G.
Copyright Year	2006
Description	Author affiliation: Graduate Sch. of Informatics, Kyoto Univ. (Yamamoto, S.)
Abstract	This paper presents a robot audition system that recognizes simultaneous speech in the real world by using robot-embedded microphones. We have previously reported missing feature theory (MFT) based integration of sound source separation (SSS) and automatic speech recognition (ASR) for building robust robot audition. We demonstrated that a MFT-based prototype system drastically improved the performance of speech recognition even when three speakers talked to a robot simultaneously. However, the prototype system had three problems; being offline, hand-tuning of system parameters, and failure in voice activity detection (VAD). To attain online processing, we introduced FlowDesigner-based architecture to integrate sound source localization (SSL), SSS and ASR. This architecture brings fast processing and easy implementation because it provides a simple framework of shared-object-based integration. To optimize the parameters, we developed genetic algorithm (GA) based parameter optimization, because it is difficult to build an analytical optimization model for mutually dependent system parameters. To improve VAD, we integrated new VAD based on a power spectrum and location of a sound source into the system, since conventional VAD relying only on power often fails due to low signal-to-noise ratio of simultaneous speech. We, then, constructed a robot audition system for Honda ASIMO. As a result, we showed that the system worked online and fast, and had a better performance in robustness and accuracy through experiments on recognition of simultaneous speech in a noisy and echoic environment
Starting Page	5333
Ending Page	5338
File Size	172502
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282037
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Robots Speech recognition Robotics and automation Automatic speech recognition Robustness Prototypes Microphones Source separation Loudspeakers genetic algorithm missing feature theory robot audition voice activity detection real-time processing parameter optimization
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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