Issues in Humanoid Audition and Sound Source Localization by Active Audition
Bibliographic Information
- Other Title
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- ヒューマノイドにおける聴覚機能の課題とアクティブオーディションによる音源定位
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Abstract
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 localizes sound sources and recognizes auditory events in the auditory scene. Active audition reported in this paper enables SIG to track 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 and the cover acoustics. The experimental result demonstrates that active audition by integration of audition, vision, and motor control attains sound source tracking in variety of conditions.onditions.
Journal
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- 人工知能学会論文誌(Transactions of the Japanese Society for Artificial Intelligence)
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人工知能学会論文誌(Transactions of the Japanese Society for Artificial Intelligence) 18 (2), 104-113, 2003-01-28
The Japanese Society for Artificial Intelligence
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Details 詳細情報について
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- CRID
- 1573950402414761216
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- NII Article ID
- 120005439189
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- NII Book ID
- AA11579226
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- ISSN
- 13460714
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- Web Site
- http://hdl.handle.net/2433/187396
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- Text Lang
- ja
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- Data Source
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- CiNii Articles