TY - GEN
T1 - Assessment of general applicability of ego noise estimation
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Ince, Gökhan
AU - Nakamura, Keisuke
AU - Asano, Futoshi
AU - Nakajima, Hirofumi
AU - Nakadai, Kazuhiro
PY - 2011
Y1 - 2011
N2 - Noise generated due to the motion of a robot deteriorates the quality of the desired sounds recorded by robot-embedded microphones. On top of that, a moving robot is also vulnerable to its loud fan noise that changes its orientation relative to the moving limbs where the microphones are mounted on. To tackle the non-stationary ego-motion noise and the direction changes of fan noise, we propose an estimation method based on instantaneous prediction of ego noise using parameterized templates. We verify the ego noise suppression capability of the proposed estimation method on a humanoid robot by evaluating it on two important applications in the framework of robot audition: (1) automatic speech recognition and (2) sound source localization. We demonstrate that our method improves recognition and localization performance during both head and arm motions considerably.
AB - Noise generated due to the motion of a robot deteriorates the quality of the desired sounds recorded by robot-embedded microphones. On top of that, a moving robot is also vulnerable to its loud fan noise that changes its orientation relative to the moving limbs where the microphones are mounted on. To tackle the non-stationary ego-motion noise and the direction changes of fan noise, we propose an estimation method based on instantaneous prediction of ego noise using parameterized templates. We verify the ego noise suppression capability of the proposed estimation method on a humanoid robot by evaluating it on two important applications in the framework of robot audition: (1) automatic speech recognition and (2) sound source localization. We demonstrate that our method improves recognition and localization performance during both head and arm motions considerably.
UR - http://www.scopus.com/inward/record.url?scp=84864458478&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979578
DO - 10.1109/ICRA.2011.5979578
M3 - Conference contribution
AN - SCOPUS:84864458478
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3517
EP - 3522
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -