Assessment of General Applicability of Ego Noise Estimation – Applications to Automatic Speech Recognition and Sound Source Localization –
Noise generated due to the motion of a robot deteriorates the quality of the desired sounds recorded by robot-embedded microphones. On top of that, a moving robot is also vulnerable to its loud fan noise that changes its orientation relative to the moving limbs where the microphones are mounted on. To tackle the non-stationary ego-motion noise and the direction changes of fan noise, we propose an estimation method based on instantaneous prediction of ego noise using parameterized templates. We verify the ego noise suppression capability of the proposed estimation method on a humanoid robot by evaluating it on two important applications in the framework of robot audition: (1) automatic speech recognition and (2) sound source localization. We demonstrate that our method improves recognition and localization performance during both head and arm motions considerably.
G(o)khan Ince Keisuke Nakamura Futoshi Asano Hirofumi Nakajima Kazuhiro Nakadai
Honda Research Institute Japan Co.,Ltd. 8-1 Honcho,Wako-shi,Saitama 351-0188,Japan Dept. of Mechanic Honda Research Institute Japan Co.,Ltd. 8-1 Honcho,Wako-shi,Saitama 351-0188,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3517-3522
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）