Title :
Speaker localization using the TDOA-based feature matrix for a humanoid robot
Author :
Kim, Ui-Hyun ; Kim, Jinsung ; Kim, Doik ; Kim, Hyogon ; You, Bum-Jae
Author_Institution :
Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol., Seoul
Abstract :
Research on human-robot interaction has recently been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report on a speaker localization system with six microphones for a humanoid robot called MAHRU of KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. To verify the solid performance of our speaker localization system for a humanoid robot, we present the various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.
Keywords :
humanoid robots; man-machine systems; mean square error methods; microphones; speaker recognition; speech processing; time-of-arrival estimation; database matrix; feature matrix; human-robot interaction; humanoid robot; microphone; minimum sum of absolute errors; sound source localization; speaker localization; speech signal processing; time delay of arrival; Auditory system; Delay effects; Ear; Humanoid robots; Humans; Loudspeakers; Microphones; Signal processing algorithms; Spatial databases; Speech;
Conference_Titel :
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-2212-8
Electronic_ISBN :
978-1-4244-2213-5
DOI :
10.1109/ROMAN.2008.4600734