ROBOT AUDITORY SYSTEM BASED ON CIRCULAR MICROPHONE ARRAY FOR HOME SERVICE ROBOTS

Keun-Chang Kwak

Abstract

In this paper, we develop robot auditory system including speaker recognition, sound source localization, and speech enhancement based on circular microphone array for home service robots. These techniques are concerned with audio-based Human-Robot Interaction (HRI) that can naturally interact between human and robot through audio information obtained from microphone array and multi-channel sound board. The robot platform used in this study is wever, which is a network-based intelligent home service robot. The experimental results show the effectiveness of the presented audio-based HRI components from the constructed speaker and sound localization database.

References

  1. Reynolds, D. A., Rose, R. C., 1995. Robust textindependent speaker identification using Gaussian mixture speaker models. IEEE Trans. on Speech and Audio Processing, vol. 3, no. 1, pp. 72-83.
  2. Kwak, K. C., Kim, H. J., Bae, K. S., Yoon, H. S., 2007. Speaker identification and verification for intelligent service robots. In International Conference on Artificial Intelligence (ICAI2007), Las Vegas, May.
  3. Raykar, V. C., Yegnanarayana, B., Prasanna, S. R. M., Duraiswami R., 2005. Speaker localization using excitation source information in speech. IEEE Trans. on Acoustic, Speech, and Signal Processing, vol. 13, no. 5, pp. 751-761.
  4. Kwak, K. C., Kim, S. S., 2008. Sound source localization with the aid of excitation source information in home robot environments. IEEE Trans. on Consumer Electronics, vol. 54, no. 2, pp. 852-856.
  5. Aarabi, P., Shi, G., 2004. Phase-based dual-microphone robust speech enhancement. IEEE Trans. on Systems, Man, and Cybernetics, vol. 34, no. 4, pp. 1763-1773.
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Paper Citation


in Harvard Style

Kwak K. (2009). ROBOT AUDITORY SYSTEM BASED ON CIRCULAR MICROPHONE ARRAY FOR HOME SERVICE ROBOTS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 475-478. DOI: 10.5220/0002248504750478


in Bibtex Style

@conference{icinco09,
author={Keun-Chang Kwak},
title={ROBOT AUDITORY SYSTEM BASED ON CIRCULAR MICROPHONE ARRAY FOR HOME SERVICE ROBOTS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={475-478},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002248504750478},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ROBOT AUDITORY SYSTEM BASED ON CIRCULAR MICROPHONE ARRAY FOR HOME SERVICE ROBOTS
SN - 978-989-674-000-9
AU - Kwak K.
PY - 2009
SP - 475
EP - 478
DO - 10.5220/0002248504750478