DocumentCode
381379
Title
Spatial auditory processing for a hearing robot
Author
Huang, Jie
Author_Institution
Univ. of Aizu, Aizu-Wakamatsu, Japan
Volume
2
fYear
2002
fDate
2002
Firstpage
253
Abstract
We describe an auditory system for a multimodal mobile robot. The auditory system contains four microphones that are spatially arranged on a spherical robot head with three around the side of the sphere and one at the top. Different pairs of microphones provide localization cues for different directions. By using the top-mounted microphone, the elevation of sound sources can also be localized based on time difference and intensity difference cues. Different methods of spatial cue integration are proposed and compared. By incorporating a model of the precedence effect, the influence of echoes and reverberations can be inhibited.
Keywords
audio signal processing; delay estimation; echo suppression; mobile robots; reverberation; echo avoidance; hearing robot; intensity difference; localization cues; microphones; mobile robot; multimodal robot; reverberations; spatial auditory processing; time delay estimation; time difference; Acoustic sensors; Auditory system; Cameras; Humans; Machine vision; Microphones; Mobile robots; Reverberation; Robot sensing systems; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Multimedia and Expo, 2002. ICME '02. Proceedings. 2002 IEEE International Conference on
Print_ISBN
0-7803-7304-9
Type
conf
DOI
10.1109/ICME.2002.1035566
Filename
1035566
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