A portable robot audition software system for multiple simultaneous speech signals

H. G. Okuno*, S. Yamamoto, K. Nakadai, J. M. Valin, T. Ogata, K. Komatani


研究成果: Conference article査読


Since a robot is deployed in various kinds of environments, the robot audition system should work with minimum prior information on environments to localize, separate and recognize utterances by multiple simultaneous talkers. For example, it should not assume either the number of speakers, the location of speakers for sound source separation (SSS), or specially tuned acoustic model for automatic speech recognition (ASR). We developed \HARK" portable robot audition that uses eight microphones installed on the surface of robot's body such as Honda ASIMO, and SIG-2 and Robovie-R2 at Kyoto University. HARK integrates SSS and ASR by using the Missing-Feature Theory. For SSS, we use Geometric Source Separation and multi-channel post-filter to separate each utterance. Since separated speech signals are distorted due to interfering talkers and sound source separation, multi-channel post-filter enhanced speech signals. At this process, we create a missing feature mask that specifies which acoustic features are reliable in time-frequency domain. Multi-band Julius, a missing-feature-theory based ASR, uses this mask to avoid the inuence of unreliable features in recognizing such distorted speech signals. The system demonstrated a waitress robot that accepts meal orders placed by three actual human talkers.

ジャーナルProceedings - European Conference on Noise Control
出版ステータスPublished - 2008 12月 1
イベント7th European Conference on Noise Control 2008, EURONOISE 2008 - Paris, France
継続期間: 2008 6月 292008 7月 4

ASJC Scopus subject areas

  • 音響学および超音波学
  • 公衆衛生学、環境および労働衛生
  • 建築および建設
  • 機械工学
  • 産業および生産工学
  • 自動車工学
  • 航空宇宙工学


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