ICRA 2011 Paper Abstract


Paper WeP103.1

Ince, Gokhan (Honda Research Institute Japan Co., Ltd.), Nakamura, Keisuke (Honda Research Institute Japan Co., Ltd.), Asano, Futoshi (AIST), Nakajima, Hirofumi (Honda Research Institute Japan Co., Ltd.), Nakadai, Kazuhiro (Honda Research Inst. Japan Co., Ltd.)

Assessment of General Applicability of Ego Noise Estimation Applications to Automatic Speech Recognition and Sound Source Localization

Scheduled for presentation during the Regular Sessions "Humanoid Robots III" (WeP103), Wednesday, May 11, 2011, 13:40−13:55, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Localization, Humanoid Robots


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.



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