文章基本信息

标题：Issues in Humanoid Audition and Sound Source Localization by Active Audition
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作者：Kazuhiro Nakadai ; Hiroshi G. Okuno ; Hiroaki Kitano 等
期刊名称：人工知能学会論文誌
印刷版ISSN：1346-0714
电子版ISSN：1346-8030
出版年度：2003
卷号：18
期号：2
页码：104-113
DOI：10.1527/tjsai.18.104
出版社：The Japanese Society for Artificial Intelligence
摘要：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.
关键词：active audition ; robots ; perception ; noise cancelation ; sensor fusion