| Presentation | 2001/12/13 Research Issues and Current Status of Robot Audition Hiroshi G. Okuno, Kazuhiro Nakadai, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we present an active audition system which is implemented on the humanoid robot "SIG the humanoid". The audition system for highly intelligent humanoids localize sound sources and recognize auditory events in the auditory scene. Active audition reported in this paper enables SIG to track sound sources by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. However, such an active head movement inevitably creates motor noises. The system adaptively cancels motor noises using motor control signals. The experimental result demonstrates that active audition by integration of audition, vision, and motor control attains sound source tracking in variety of conditions. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | robot audition / computational auditory scene analysis / auditory epipolar geometry / active audition / sensor fusion |
| Paper # | NLC2001-60,SP2001-95 |
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| Conference Information | |
| Committee | SP |
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| Conference Date | 2001/12/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
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| Paper Information | |
| Registration To | Speech (SP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Research Issues and Current Status of Robot Audition |
| Sub Title (in English) | |
| Keyword(1) | robot audition |
| Keyword(2) | computational auditory scene analysis |
| Keyword(3) | auditory epipolar geometry |
| Keyword(4) | active audition |
| Keyword(5) | sensor fusion |
| 1st Author's Name | Hiroshi G. Okuno |
| 1st Author's Affiliation | Graduate School of Informatics, Kyoto University:Kitano Symbiotic Systems Project, ERATO, Japan Science and Tech.Corp.() |
| 2nd Author's Name | Kazuhiro Nakadai |
| 2nd Author's Affiliation | Kitano Symbiotic Systems Project, ERATO, Japan Science and Tech.Corp. |
| Date | 2001/12/13 |
| Paper # | NLC2001-60,SP2001-95 |
| Volume (vol) | vol.101 |
| Number (no) | 522 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |