Bearing-only acoustic tracking of moving speakers for robot audition

Autor:	Alastair H. Moore, Christine Evers, Patrick A. Naylor, Boaz Rafaely, Jonathan Sheaffer
Přispěvatelé:	Commission of the European Communities
Rok vydání:	2015
Předmět:	Reverberation Robustness (computer science) Computer science Robot audition Speech recognition Range (statistics) Clutter Spurious relationship Bearing (navigation) Interference (wave propagation)
Zdroj:	DSP 2015 IEEE International Conference on Digital Signal Processing (DSP)
DOI:	10.1109/icdsp.2015.7252071
Popis:	This paper focuses on speaker tracking in robot audition for human-robot interaction. Using only acoustic signals, speaker tracking in enclosed spaces is subject to missing detections and spurious clutter measurements due to speech inactivity, reverberation and interference. Furthermore, many acoustic localization approaches estimate speaker direction, hence providing bearing-only measurements without range information. This paper presents a probability hypothesis density (PHD) tracker that augments the bearing-only speaker directions of arrival with a cloud of range hypotheses at speaker initiation and propagates the random variates through time. Furthermore, due to their formulation PHD filters explicitly model, and hence provide robustness against, clutter and missing detections. The approach is verified using experimental results.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cdd95ef15d6cadebf59068bf5874753c https://doi.org/10.1109/icdsp.2015.7252071 Zobrazit plný text záznamu