ヒューマノイドロボットにおける両耳音響信号を用いた話者方向推定
Estimating speaker direction on a humanoid robot with binaural acoustic signals
ヒューマノイドロボットの両耳マイク信号から話者の方向を推定する手法を提案し、実データでパラメータ最適化とリアルタイム性を検証した。
著者: Pranav Barot, Katja Mombaur, Ewen MacDonald
分類: cs.RO, cs.SD, eess.AS
原文アブストラクト
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA) estimation, while also considering real-time applications for human-robot interaction scenarios. This method is applied to binaural sound source localization framework on a humanoid robotic head. Real data is collected and annotated for this work. Optimizations are performed via a brute force method and a Bayesian model based method, results are validated and discussed, and effects on latency for real-time use are also explored.
