Journal ArticleDOI
Sound source localization with the aid of excitation source information in home robot environments
Keun-Chang Kwak,Sung-Suk Kim +1 more
TLDR
The presented method showed a good performance in comparison with the conventional methods such as time difference of arrival (TDOA) and generalized cross correlation- phase transform (GCC-PHAT) in distant-varying, noise and reverberant environments.Abstract:
This paper is concerned with multiple microphone-based sound source localization in home robot environments. For this purpose, we use the excitation source information to determine the time-delay between each two microphones from speech source when robot's name is called. Furthermore, we present a novel method to estimate the reliable localization angle from the obtained time-delay values. Thus, it can be used as a core technique in conjunction with human-robot interaction that can naturally interact between human and robots in home robot applications. The experimental results on sound localization database revealed that the presented method showed a good performance in comparison with the conventional methods such as time difference of arrival (TDOA) and generalized cross correlation- phase transform (GCC-PHAT) in distant-varying, noise and reverberant environments.read more
Citations
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Journal ArticleDOI
Sensor network based localization algorithm using fusion sensor-agent for indoor service robot
Byoung-Suk Choi,Ju-Jang Lee +1 more
TL;DR: This work proposes a novel architecture for a sensor network based localization system, a localization algorithm which processes the position data from each sensor-agent, and applies the proposed localization algorithm to real indoor service robots and demonstrates the improved localization ability of the service robots.
Proceedings ArticleDOI
Smart Audio/Video Playback Control Based on Presence Detection and User Localization in Home Environment
TL;DR: The design and implementation of a simple software-based home control platform used for the automatic control of audio/video devices and integration of various residential sensors, with an accent on users' localization and presence detection is presented.
Journal ArticleDOI
Sound source localization for robot auditory systems
TL;DR: A search space clustering method designed to speed up the SRP-PHAT based sound source localization algorithm for intelligent home robots equipped with small scale microphone arrays is proposed.
Journal ArticleDOI
Hands-free voice communication with TV
TL;DR: This paper presents a system for full-duplex hands free voice communication integrated with TV technology that provides comfortable conversation by utilization of microphone array and advanced voice processing algorithms, even with simultaneous TV usage.
Journal ArticleDOI
A real-time stereo depth extraction hardware for intelligent home assistant robot
TL;DR: Experimental results show that the proposed method reduces the processing time and the energy consumption compared to the conventional methods, and is suitable for adaptive real-time depth extraction that is compatible with current robot applications.
References
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Journal ArticleDOI
The generalized correlation method for estimation of time delay
TL;DR: In this paper, a maximum likelihood estimator is developed for determining time delay between signals received at two spatially separated sensors in the presence of uncorrelated noise, where the role of the prefilters is to accentuate the signal passed to the correlator at frequencies for which the signal-to-noise (S/N) ratio is highest and suppress the noise power.
Journal ArticleDOI
Combining evidence from residual phase and MFCC features for speaker recognition
K.S.R. Murty,B. Yegnanarayana +1 more
TL;DR: An EER of 10.5% is obtained, indicating that speaker-specific excitation information is present in the residual phase, which is useful since it is complementary to that of MFCCs.
Journal ArticleDOI
Speaker localization using excitation source information in speech
TL;DR: The results show that the proposed method for localizing a speaker using features that arise from the excitation source during speech production are closer to the actual values, than those obtained by the GCC method.
Journal ArticleDOI
Towards a Ubiquitous Robotic Companion: Design and Implementation of Ubiquitous Robotic Service Framework
TL;DR: The design and implementation of a semantic‐based ubiquitous robotic space (SemanticURS) is presented and enables automated integration of networked robots into ubiquitous computing environments exploiting Semantic Web Services and AI‐based planning technologies.
Journal ArticleDOI
Determining Number of Speakers From Multispeaker Speech Signals Using Excitation Source Information
TL;DR: This letter addresses the issue of determining the number of speakers from multispeaker speech signals collected simultaneously using a pair of spatially separated microphones and suggests that for a given speaker, the relative spacings of the instants of significant excitation of the vocal tract system remain unchanged in the direct components of the speech signals at the two microphones.