Related papers: Detecting acoustic reflectors using a robot's ego-…

The predictive brain hypothesis suggests that perception can be interpreted as the process of minimizing the error between predicted perception tokens generated by an internal world model and actual sensory input tokens. When implementing…

Localizing a moving sound source in the real world involves determining its direction-of-arrival (DOA) and distance relative to a microphone. Advancements in DOA estimation have been facilitated by data-driven methods optimized with large…

Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…

Automatic audio event recognition plays a pivotal role in making human robot interaction more closer and has a wide applicability in industrial automation, control and surveillance systems. Audio event is composed of intricate phonic…

As for the humanoid robots, the internal noise, which is generated by motors, fans and mechanical components when the robot is moving or shaking its body, severely degrades the performance of the speech recognition accuracy. In this paper,…

We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy…

This paper proposes an efficient attempt to noisy speech emotion recognition (NSER). Conventional NSER approaches have proven effective in mitigating the impact of artificial noise sources, such as white Gaussian noise, but are limited to…

Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…

In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of Geometric Source Separation and a post-filter that gives us a…

Having knowledge of the environmental context of the user i.e. the knowledge of the users' indoor location and the semantics of their environment, can facilitate the development of many of location-aware applications. In this paper, we…

The voting method, an ensemble approach for fundamental frequency estimation, is empirically known for its robustness but lacks thorough investigation. This paper provides a principled analysis and improvement of this technique. First, we…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

With current state-of-the-art automatic speech recognition (ASR) systems, it is not possible to transcribe overlapping speech audio streams separately. Consequently, when these ASR systems are used as part of a social robot like Pepper for…

We aim to redefine robust ego-motion estimation and photorealistic 3D reconstruction by addressing a critical limitation: the reliance on noise-free data in existing models. While such sanitized conditions simplify evaluation, they fail to…

This paper investigates the application of environmental feature representations for room verification tasks and acoustic meta-data estimation. Audio recordings contain both speaker and non-speaker information. We refer to the…

We address the problem of estimating depth with multi modal audio visual data. Inspired by the ability of animals, such as bats and dolphins, to infer distance of objects with echolocation, some recent methods have utilized echoes for depth…

Sound reflections and late reverberation alter energetic and binaural cues of a target source, thereby affecting it's detection in noise. Two experiments investigated detection of harmonic complex tones, centered around 500 Hz, in noise in…

This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…

The intelligent acoustic emission locator is described in Part I, while Part II discusses blind source separation, time delay estimation and location of two simultaneously active continuous acoustic emission sources. The location of…