Lightweight multi-DOA tracking of mobile speech sources

Rascón, Caleb; Fuentes, Gibrán; Meza, Iván

doi:10.1186/s13636-015-0055-8

Cited by 10 publications

(11 citation statements)

References 40 publications

(51 reference statements)

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“…64 [18] 62 [24] 88 [9] 88 [10] TOTAL 66 [20] 63 [23] 83 [14] 80 [15] [24] 33 [25] 51 [19] 38 [24] 68 [22] 61 [26] P2 70 [14] 62 [18] 74 [10] 61 [12] 89 [7] 84 [12] P3…”

Section: Speech Recognition Results In Multi-speaker's Situationsmentioning

confidence: 99%

See 1 more Smart Citation

An audio enhancement system to improve intelligibility for social-awareness in HRI

Martínez-Colón

Viciana-Abad

Perez-Lorenzo

et al. 2021

Multimed Tools Appl

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Improving the ability to interact through voice with a robot is still a challenge especially in real environments where multiple speakers coexist. This work has evaluated a proposal based on improving the intelligibility of the voice information that feeds an existing ASR service in the network and in conditions similar to those that could occur in a care centre for the elderly. The results indicate the feasibility and improvement of a proposal based on the use of an embedded microphone array and the use of a simple beamforming and masking technique. The system has been evaluated with 12 people and results obtained for time responsiveness indicate that the system would allow natural interaction with voice. It is shown to be necessary to incorporate a system to properly employ the masking algorithm, through the intelligent and stable estimation of the interfering signals. In addition, this approach allows to fix as sources of interest other speakers not located in the vicinity of the robot.

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“…64 [18] 62 [24] 88 [9] 88 [10] TOTAL 66 [20] 63 [23] 83 [14] 80 [15] [24] 33 [25] 51 [19] 38 [24] 68 [22] 61 [26] P2 70 [14] 62 [18] 74 [10] 61 [12] 89 [7] 84 [12] P3…”

Section: Speech Recognition Results In Multi-speaker's Situationsmentioning

confidence: 99%

“…However, temporal clustering techniques estimate a single DoA in each time window and group different DoAs in clusters representing a sound source. For example, the Kalman filter is used as part of a multi-DoA localization system in [25]. In [6] a Gaussian mixture model (GMM) is used for temporal clustering.…”

Section: Doa Estimation Of Multiple Sourcesmentioning

confidence: 99%

An audio enhancement system to improve intelligibility for social-awareness in HRI

Martínez-Colón

Viciana-Abad

Perez-Lorenzo

et al. 2021

Multimed Tools Appl

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“…Only Kinect direction estimations were chosen for SSL tests because its distance estimations were unsatisfactory due to their large error. Kinect microphones sensitivity and their 16 kHz sampling are important factors that can lead to delay estimation errors [ 28 ]. Time series of two Kinect sensors were consistent because of their connection to the same computer with the same measuring time.…”

Section: Methodsmentioning

confidence: 99%

A Sound Source Localisation Analytical Method for Monitoring the Abnormal Night Vocalisations of Poultry

Lao

Teng

2018

Sensors

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Due to the increasing scale of farms, it is increasingly difficult for farmers to monitor their animals in an automated way. Because of this problem, we focused on a sound technique to monitor laying hens. Sound analysis has become an important tool for studying the behaviour, health and welfare of animals in recent years. A surveillance system using microphone arrays of Kinects was developed for automatically monitoring birds’ abnormal vocalisations during the night. Based on the principle of time-difference of arrival (TDOA) of sound source localisation (SSL) method, Kinect sensor direction estimations were very accurate. The system had an accuracy of 74.7% in laboratory tests and 73.6% in small poultry group tests for different area sound recognition. Additionally, flocks produced an average of 40 sounds per bird during feeding time in small group tests. It was found that, on average, each normal chicken produced more than 53 sounds during the daytime (noon to 6:00 p.m.) and less than one sound at night (11:00 p.m.–3:00 a.m.). This system can be used to detect anomalous poultry status at night by monitoring the number of vocalisations and area distributions, which provides a practical and feasible method for the study of animal behaviour and welfare.

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“…The DOA skill is performed by the multiple-DOA estimation system. This is based on previous work that focuses on a small, lightweight hardware setup that is able to estimate more DOAs than the amount of microphones employed [5,43].…”

Section: Multiple-doa Estimation Systemmentioning

confidence: 99%

“…Although it could be thought that this performance would not be enough for HRI interactions, since it is at the frame label (i.e., 100 ms), in an interaction setting when turns are being taken, this performance is more than enough to catch the interaction of a user. An extensive evaluation of this module can be consulted in [43].…”

Section: Multiple-doa Estimation Systemmentioning

confidence: 99%

On Indexicality, Direction of Arrival of Sound Sources, and Human-Robot Interaction

Meza

Rascón²,

Fuentes³

et al. 2016

Journal of Robotics

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We present the use of direction of arrival (DOA) of sound sources as an index during the interaction between humans and service robots. These indices follow the notion defined by the theory of interpretation of signs by Peirce. This notion establishes a strong physical relation between signs (DOAs) and objects being signified in specific contexts. With this in mind, we have modeled the call at a distance to a robot as indexical in nature. These indices can be later interpreted as the position of the user and the user herself/himself. The relation between the call and the emitter is formalized in our framework of development of service robots based on the SitLog programming language. In particular, we create a set of behaviours based on direction of arrival information to be used in the programming of tasks for service robots. Based on these behaviours, we have implemented four tasks which heavily rely on them: following a person, taking attendance of a class, playing Marco-Polo, and acting as a waiter in a restaurant.

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Lightweight multi-DOA tracking of mobile speech sources

Cited by 10 publications

References 40 publications

An audio enhancement system to improve intelligibility for social-awareness in HRI

An audio enhancement system to improve intelligibility for social-awareness in HRI

A Sound Source Localisation Analytical Method for Monitoring the Abnormal Night Vocalisations of Poultry

On Indexicality, Direction of Arrival of Sound Sources, and Human-Robot Interaction

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