ICRA 2011 Paper Abstract


Paper TuP205.6

Mizumoto, Takeshi (Kyoto University), Nakadai, Kazuhiro (Honda Research Inst. Japan Co., Ltd.), Yoshida, Takami (Tokyo Institute of Technology), Takeda, Ryu (Kyoto University), Otsuka, Takuma (Kyoto University), Takahashi, Toru (Kyoto University), Okuno, Hiroshi G. (Kyoto University)

Design and Implementation of Selectable Sound Separation on a Texai Telepresence System Using HARK

Scheduled for presentation during the Regular Sessions "Teleoperation III" (TuP205), Tuesday, May 10, 2011, 16:40−16:55, Room 3G

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 April 2, 2020

Keywords Telerobotics, Domestic Robots, Human detection & tracking


This paper presents the design and implementation of selectable sound separation functions on the telepresence system ``Texai'' using the robot audition software ``HARK.'' An operator of Texai can ``walk'' around a faraway office to attend a meeting or talk with people through video-conference instead of meeting in person. With a normal microphone, the operator has difficulty recognizing the auditory scene of the Texai, e.g., he/she cannot know the number and the locations of sounds. To solve this problem, we design selectable sound separation functions with 8 microphones in two modes, overview and filter modes, and implement them using HARK's sound source localization and separation. The overview mode visualizes the direction-of-arrival of surrounding sounds, while the filter mode provides sounds that originate from the range of directions he/she specifies. The functions enable the operator to be aware of a sound even if it comes from behind the Texai, and to concentrate on a particular sound. The design and implementation was completed in five days due to the portability of HARK. Experimental evaluations with actual and simulated data show that the resulting system localizes sound sources with a tolerance of 5 degrees.



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