Robust speaker localization system for a humanoid robot in noise and reverberation environments

Ui Hyun Kim, Jinsung Kim, Doik Kim, Hyogon Kim, Bum Jae You

Research output: Contribution to conferencePaper

Abstract

Human-robot interaction (HRI) is an important study to allow more natural and effective communication between humans and robots. Recently, research on HRI has been receiving an increasing amount of attention. In this paper, we report on a speaker localization system for a humanoid robot, as part of an auditory-based system of HRI. Our system uses a six-channel microphone array on a humanoid robot's head. To achieve good results in environments of noise and reverberation, we utilize a pre-emphasis filter; a voice activity detection (VAD) algorithm; and generalized cross correlation with phase transform weighting (GCCPHAT) method. Experimental results show that our speaker localization system for a humanoid robot can successfully localize a speaker's position over the entire azimuth and altitude in noise and reverberation environments.

Original languageEnglish
Pages735-739
Number of pages5
Publication statusPublished - 2008
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 152008 Oct 17

Other

Other39th International Symposium on Robotics, ISR 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1508/10/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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  • Cite this

    Kim, U. H., Kim, J., Kim, D., Kim, H., & You, B. J. (2008). Robust speaker localization system for a humanoid robot in noise and reverberation environments. 735-739. Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.