NDLI: A hybrid framework for ego noise cancellation of a robot

Content Provider	IEEE Xplore Digital Library
Author	Ince, G. Nakadai, K. Rodemann, T. Hasegawa, Y. Tsujino, H. Imura, J.-i.
Copyright Year	2010
Description	Author affiliation: Honda Research Institute Europe GmbH, Carl-Legien Strasse 30, 63073 Offenbach, Germany (Rodemann, T.) \|\| Dept. of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology, 2-12-1-W8-1, O-okayama, Meguro-ku, 152-8552, Japan (Imura, J.-i.) \|\| Honda Research Institute Japan Co., Ltd. 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan (Ince, G.; Nakadai, K.; Hasegawa, Y.; Tsujino, H.)
Abstract	Noise generated due to the motion of a robot is not desired, because it deteriorates the quality and intelligibility of the sounds recorded by robot-embedded microphones. It must be reduced or cancelled to achieve automatic speech recognition with a high performance. In this work, we divide ego-motion noise problem into three subdomains of arm, leg and head motion noise, depending on their complexity and intensity levels. We investigate methods that make use of single-channel and multi-channel processing in order to suppress ego noise separately. For this purpose, a framework consisting of a microphone-array-based geometric source separation, a consequent post filtering process and a parallel module for template subtraction is used. Furthermore, a control mechanism is proposed, which is based on signal-to-noise ratio and instantaneously detected motions, to switch to the most suitable method to deal with the current type of noise. We evaluate the proposed techniques on a humanoid robot using automatic speech recognition (ASR). The preliminary results of isolated word recognition show the effectiveness of our methods by increasing the word correct rates up to 50% compared to the single channel recognition in arm and leg motion noises and up to 25% in very strong head motion noises.
Starting Page	3623
Ending Page	3628
File Size	954844
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509564
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Noise cancellation Robots Acoustic noise Robotics and automation Automatic speech recognition Noise level Leg Signal to noise ratio Switches Noise generators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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

Ego noise suppression of a robot using template subtraction

Ego noise cancellation of a robot using missing feature masks

A robot referee for rock-paper-scissors sound games

Coarse speech recognition by audio-visual integration based on missing feature theory

Design and implementation of a robot audition system for automatic speech recognition of simultaneous speech

Improvement of robot audition by interfacing sound source separation and automatic speech recognition with Missing Feature Theory

Robust Speech Recognition System for Communication Robots in Real Environments

Automatic speech recognition under robot ego noises

Humanoid robot noise suppression by particle filters for improved automatic speech recognition accuracy

A hybrid framework for ego noise cancellation of a robot

Similar Documents

Ego noise suppression of a robot using template subtraction

Ego noise cancellation of a robot using missing feature masks

A robot referee for rock-paper-scissors sound games

Coarse speech recognition by audio-visual integration based on missing feature theory

Design and implementation of a robot audition system for automatic speech recognition of simultaneous speech

Improvement of robot audition by interfacing sound source separation and automatic speech recognition with Missing Feature Theory

Robust Speech Recognition System for Communication Robots in Real Environments

Automatic speech recognition under robot ego noises

Humanoid robot noise suppression by particle filters for improved automatic speech recognition accuracy

A hybrid framework for ego noise cancellation of a robot