NDLI: Robot recognizes three simultaneous speech by active audition

Content Provider	IEEE Xplore Digital Library
Author	Nakadai, K. Okuno, H.G. Kitano, H.
Copyright Year	2003
Description	Author affiliation: Kitano Symbiotic Syst. Project, Japan Sci. & Tech. Corp., Tokyo, Japan (Nakadai, K.; Okuno, H.G.; Kitano, H.)
Abstract	Robots should listen to and recognize speeches with their own ears under noisy environments and simultaneous speeches to attain smooth communications with people in a real world. This paper presents three simultaneous speech recognition based on active audition which integrates audition with motion. Our robot audition system consists of three modules - a real-time human tracking system, an active direction-pass filter (ADPF) and a speech recognition system using multiple acoustic models. The real-time human tracking realizes robust and accurate sound source localization and tracking by audio-visual integration. The performance of localization shows that the resolution of the center of the robot is much higher than that of the peripheral. We call this phenomenon "auditory fovea" because it is similar to visual fovea (high resolution in the center of the human eye). Active motions such as being directed at the sound source improve localization because of making the best use if the auditory fovea. The ADPF realizes accurate and fast sound separation by using a pair of microphones. The ADPF separates sounds originating from the specified direction obtained by the real-time human tracking system. Because the performance of separation depends on the accuracy of localization, the extraction of sound from the front direction is more accurate than that of sound from the periphery. This means that the pass range of ADPF should be narrower in the front direction than in periphery. In other words, such active pass range control improves sound separation. The separated speech is recognized by the speech recognition using multiple acoustic models that integrates multiple results to output the result with the maximum likelihood. Active motions such as being directed at a sound source improve speech recognition because it realizes not only improvement of sound extraction but also easier integration of the results using face ID by face recognition. The robot audition system improved by active audition is implemented on an upper-torso humanoid. The system attains localization, separation and recognition of three simultaneous speeches and the results proves the efficiency of active audition.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	398
Ending Page	405
File Size	546879
Page Count	8
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241628
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Speech recognition Humans Real time systems Ear Acoustic noise Working environment noise Active filters Robustness Microphones
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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