NDLI: Pitch extraction in Human-Robot interaction

Content Provider	IEEE Xplore Digital Library
Author	Heckmann, M. Joublin, F. Nakadai, K.
Copyright Year	2010
Description	Author affiliation: Honda Research Insitute Europe GmbH, D-63073 Offenbach/Main, Germany (Heckmann, M.; Joublin, F.) \|\| Honda Research Insitute Japan Co. Ltd., Wako-shi, Saitama 351-0188, Japan (Nakadai, K.)
Abstract	We present a system for real-time fundamental frequency, i. e. pitch, extraction on a humanoid robot. The system extracts pitch using an 8 channel microphone array mounted on the Honda humanoid robot in a realistic Human-Robot interaction scenario. The main building blocks of the system are a multi-channel signal enhancement followed by robust pitch extraction and tracking. The signal enhancement is based on 8 channel Geometric Source Separation. For the pitch extraction the signal is first transformed with a Gammatone filter bank into the frequency domain. Next a histogram of zero crossing distances is calculated from all filter bank signals. During the calculation of the histogram spurious side peaks resulting from harmonics and sub-harmonics of the true fundamental frequency are inhibited. The resulting histogram then serves as input to a grid based Bayesian tracker which deploys Bayesian filtering in a forward step and Bayesian smoothing in a backward step on a 100ms time window. We demonstrate the performance of the system in a scenario where male and female speakers utter different phrases while standing at a normal interaction distance to the robot. For the evaluation we compare the pitch tracking results once obtained from a clean headset signal and once from the signals obtained from the robot. The results show that the tracking performance only degrades to a small extent in the realistic interaction scenario compared to the headset recordings.
Starting Page	1482
Ending Page	1487
File Size	1175766
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649882
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Harmonic analysis Histograms Filtering theory Teeth Bayesian methods Robots Microphones
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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