Speaker localization using the TDOA-based feature matrix for a humanoid robot

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Research on human-robot interaction has recently been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report on a speaker localization system with six microphones for a humanoid robot called MAHRU of KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. To verify the solid performance of our speaker localization system for a humanoid robot, we present the various experimental results for the speech sources at all directions within S m distance and the height divided into three parts.

Original languageEnglish
Title of host publicationProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Pages610-615
Number of pages6
DOIs
Publication statusPublished - 2008 Oct 6
Event17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN - Munich, Germany
Duration: 2008 Aug 12008 Aug 3

Publication series

NameProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

Other

Other17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
CountryGermany
CityMunich
Period08/8/108/8/3

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Kim, U. H., Kim, J., Kim, D., Kim, H., & You, B. J. (2008). Speaker localization using the TDOA-based feature matrix for a humanoid robot. In Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN (pp. 610-615). [4600734] (Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN). https://doi.org/10.1109/ROMAN.2008.4600734