Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter

Hyun Don Kim; Kazunori Komatani; Tetsuya Ogata; Hiroshi G. Okuno

doi:10.1007/978-3-540-73325-6_28

Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter

Hyun Don Kim^*, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

This paper presents techniques that enable a talker tracking for effective human-robot interaction. We propose new way of integrating an EM algorithm and a particle filter to select an appropriate path for tracking the talker. It can easily adapt to new kinds of information for tracking the talker with our system. This is because our system estimates the position of the desired talker through means, variances, and weights calculated from EM training regardless of the numbers or kinds of information. In addition, to enhance a robot's ability to track a talker in real-world environments, we applied the particle filter to talker tracking after executing the EM algorithm. We also integrated a variety of auditory and visual information regarding sound localization, face localization, and the detection of lip movement. Moreover, we applied a sound classification function that allows our system to distinguish between voice, music, or noise. We also developed a vision module that can locate moving objects.

Original language	English
Title of host publication	New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings
Publisher	Springer Verlag
Pages	280-290
Number of pages	11
ISBN (Print)	9783540733225
DOIs	https://doi.org/10.1007/978-3-540-73325-6_28
Publication status	Published - 2007
Externally published	Yes
Event	20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE-2007 - Kyoto, Japan Duration: 2007 Jun 26 → 2007 Jun 29

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4570 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE-2007
Country/Territory	Japan
City	Kyoto
Period	07/6/26 → 07/6/29

Keywords

EM
Human-robot interaction
Lip movement detection
Particle filter
Sound source localization
Talker tracking

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-540-73325-6_28

Cite this

Kim, H. D., Komatani, K., Ogata, T., & Okuno, H. G. (2007). Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter. In New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings (pp. 280-290). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4570 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-540-73325-6_28

Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter. / Kim, Hyun Don; Komatani, Kazunori; Ogata, Tetsuya et al.
New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings. Springer Verlag, 2007. p. 280-290 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4570 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, HD, Komatani, K, Ogata, T & Okuno, HG 2007, Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter. in New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4570 LNAI, Springer Verlag, pp. 280-290, 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE-2007, Kyoto, Japan, 07/6/26. https://doi.org/10.1007/978-3-540-73325-6_28

Kim HD, Komatani K, Ogata T, Okuno HG. Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter. In New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings. Springer Verlag. 2007. p. 280-290. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-73325-6_28

Kim, Hyun Don ; Komatani, Kazunori ; Ogata, Tetsuya et al. / Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter. New Trends in Applied Artificial Intelligence - 20th International Conference on Industrial, Engineering, and Other Applications of Applied Intelligent Systems, lEA/AlE 2007, Proceedings. Springer Verlag, 2007. pp. 280-290 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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AB - This paper presents techniques that enable a talker tracking for effective human-robot interaction. We propose new way of integrating an EM algorithm and a particle filter to select an appropriate path for tracking the talker. It can easily adapt to new kinds of information for tracking the talker with our system. This is because our system estimates the position of the desired talker through means, variances, and weights calculated from EM training regardless of the numbers or kinds of information. In addition, to enhance a robot's ability to track a talker in real-world environments, we applied the particle filter to talker tracking after executing the EM algorithm. We also integrated a variety of auditory and visual information regarding sound localization, face localization, and the detection of lip movement. Moreover, we applied a sound classification function that allows our system to distinguish between voice, music, or noise. We also developed a vision module that can locate moving objects.

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Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter

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Keywords

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