相关论文: Auditory System for a Mobile Robot

The detection of anomalous sounds in machinery operation presents a significant challenge due to the difficulty in generalizing anomalous acoustic patterns. This task is typically approached as an unsupervised learning or novelty detection…

This paper presents a joint source separation algorithm that simultaneously reduces acoustic echo, reverberation and interfering sources. Target speeches are separated from the mixture by maximizing independence with respect to the other…

Given a multi-microphone recording of an unknown number of speakers talking concurrently, we simultaneously localize the sources and separate the individual speakers. At the core of our method is a deep network, in the waveform domain,…

This study emphasizes the significance of exploring distance-based source separation (DSS) in outdoor environments. Unlike existing studies that primarily focus on indoor settings, the proposed model is designed to capture the unique…

Separating target speech from mixed signals containing flexible speaker quantities presents a challenging task. While existing methods demonstrate strong separation performance and noise robustness, they predominantly assume prior knowledge…

Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…

Automatic Speech Recognition (ASR) systems in real-world settings need to handle imperfect audio, often degraded by hardware limitations or environmental noise, while accommodating diverse user groups. In human-robot interaction (HRI),…

Voice recognition technology enables the execution of real-world operations through a single voice command. This paper introduces a voice recognition system that involves converting input voice signals into corresponding text using an…

Compared with automatic speech recognition (ASR), the human auditory system is more adept at handling noise-adverse situations, including environmental noise and channel distortion. To mimic this adeptness, auditory models have been widely…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

With the growing adoption of wearable devices such as smart glasses for AI assistants, wearer speech recognition (WSR) is becoming increasingly critical to next-generation human-computer interfaces. However, in real environments,…

Recent progress in audio source separation lead by deep learning has enabled many neural network models to provide robust solutions to this fundamental estimation problem. In this study, we provide a family of efficient neural network…

The remote microphone technique (RMT) is often used in active noise control (ANC) applications to overcome design constraints in microphone placements by estimating the acoustic pressure at inconvenient locations using a pre-calibrated…

This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a…

We address the challenge of making spatial audio datasets by proposing a shared mechanized recording space that can run custom acoustic experiments: a Mechatronic Acoustic Research System (MARS). To accommodate a wide variety of…

Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…

Mobile robots are increasingly being used in noisy environments for social purposes, e.g. to provide support in healthcare or public spaces. Since these robots also operate beyond human sight, the question arises as to how different robot…

This paper describes the integration of weighted delay-and-sum beamforming with speech source localization using image processing and robot head visual servoing for source tracking. We take into consideration the fact that the directivity…

In this paper, two microphone based systems for audio zooming is proposed for the first time. The audio zooming application allows sound capture and enhancement from the front direction while attenuating interfering sources from all other…

This article presents a Non-negative Tensor Factorization based method for sound source separation from Ambisonic microphone signals. The proposed method enables the use of prior knowledge about the Directions-of-Arrival (DOAs) of the…