TY - GEN
T1 - Speaker localization using the TDOA-based feature matrix for a humanoid robot
AU - Kim, Ui Hyun
AU - Kim, Jinsung
AU - Kim, Doik
AU - Kim, Hyogon
AU - You, Bum Jae
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1109/ROMAN.2008.4600734
DO - 10.1109/ROMAN.2008.4600734
M3 - Conference contribution
AN - SCOPUS:52949109221
SN - 9781424422135
T3 - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
SP - 610
EP - 615
BT - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
T2 - 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Y2 - 1 August 2008 through 3 August 2008
ER -