Hands-free human-robot communication robust to speaker's radial position

Randy Gomez, Keisuke Nakamura, Kazuhiro Nakadai, Ui Hyun Kim, Hiroshi G. Okuno, Tatsuya Kawahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


In this paper we present a method in room transfer function (RTF) estimation, employed specifically for dereverberation in hands-free human-robot communication.We introduce a radial distance compensation scheme which significantly improved the RTF estimate robust to the speech power variation due to changes in speaker's radial position. The proposed method is implemented in two levels; first, waveform-level compensation is executed to reflect the change in power caused by the change of radial position to the RTF. We generated possible RTF estimates within a close neighbourhood based on curve fitting. Then, we select among these estimates the optimal RTF based on acoustic model likelihood criterion, the same criterion employed in automatic speech recognition (ASR) systems. The latter is referred to as acoustic model-level compensation, which links the generated RTF to the ASR. We note that in ASR application, both waveform and acoustic models play an important role in achieving optimal performance. Thus, the synergistic effect of the two processes guarantee ASR performance improvement when used in conjunction with our ASR-based dereverberation scheme. Experimental evaluation show robustness in recognition performance when used in hands-free human-robot communication environment.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Number of pages6
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe
Duration: 2013 May 62013 May 10


Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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