相关论文: Auditory System for a Mobile Robot

We introduce a real-time, multichannel speech enhancement algorithm which maintains the spatial cues of stereo recordings including two speech sources. Recognizing that each source has unique spatial information, our method utilizes a…

We explore active audio-visual separation for dynamic sound sources, where an embodied agent moves intelligently in a 3D environment to continuously isolate the time-varying audio stream being emitted by an object of interest. The agent…

This study describes a binaural machine hearing system that is capable of performing auditory stream segregation in scenarios where multiple sound sources are present. The process of stream segregation refers to the capability of human…

We propose an algorithm for the blind separation of single-channel audio signals. It is based on a parametric model that describes the spectral properties of the sounds of musical instruments independently of pitch. We develop a novel…

In this paper, we present a novel multi-channel speech extraction system to simultaneously extract multiple clean individual sources from a mixture in noisy and reverberant environments. The proposed method is built on an improved…

The widespread use of smart devices gives rise to both security and privacy concerns. Fingerprinting smart devices can assist in authenticating physical devices, but it can also jeopardize privacy by allowing remote identification without…

This paper addresses the problem of sound-source localization (SSL) with a robot head, which remains a challenge in real-world environments. In particular we are interested in locating speech sources, as they are of high interest for…

We propose a method of separating a desired sound source from a single-channel mixture, based on either a textual description or a short audio sample of the target source. This is achieved by combining two distinct models. The first model,…

Identification and localization of sounds are both integral parts of computational auditory scene analysis. Although each can be solved separately, the goal of forming coherent auditory objects and achieving a comprehensive spatial scene…

This paper proposes a novel joint multi-speaker tracking-and-separation method based on the generalized labeled multi-Bernoulli (GLMB) multi-target tracking filter, using sound mixtures recorded by microphones. Standard multi-speaker…

Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…

In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…

Many speaker localization methods can be found in the literature. However, speaker localization under strong reverberation still remains a major challenge in the real-world applications. This paper proposes two algorithms for localizing…

We present a unified model capable of simultaneously grounding both spoken language and non-speech sounds within a visual scene, addressing key limitations in current audio-visual grounding models. Existing approaches are typically limited…

We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…

Automatic speaker verification, like every other biometric system, is vulnerable to spoofing attacks. Using only a few minutes of recorded voice of a genuine client of a speaker verification system, attackers can develop a variety of…

In this paper, the concept of an adaptation algorithm is proposed, which can be used to blindly adapt the microphone array geometry of a humanoid robot such that the performance of the underlying signal separation algorithm is improved. As…

Real-time single-channel speech separation aims to unmix an audio stream captured from a single microphone that contains multiple people talking at once, environmental noise, and reverberation into multiple de-reverberated and noise-free…

The audio source separation tasks, such as speech enhancement, speech separation, and music source separation, have achieved impressive performance in recent studies. The powerful modeling capabilities of deep neural networks give us hope…

This study explores the significance of robot hearing systems, emphasizing their importance for robots operating in diverse and uncertain environments. It introduces the hardware design principles using robotaxis as an example, where…