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Daily sound recognition using Pitch-Cluster-Maps for mobile robot audition

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5 Author(s)
Sasaki, Y. ; Digital Human Res. Center, Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan ; Kaneyoshi, M. ; Kagami, S. ; Mizoguchi, H.
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This paper proposes a sound identification method for a mobile robot in home and office environment. We propose a simple sound database called Pitch-Cluster-Maps(PCMs) based on Vector Quantization approach. Binarized frequency spectrum is used for PCMs codebook generation. It can describe a variety of sound sources, not only voice, from short term sound input. The proposed PCMs sound identification requires several tens(msec) of sound input, and is suitable for a mobile robot application which condition is dynamically changing. We implemented the proposed method on our mobile robot audition system equipped with a 32ch microphone array. Robot noise reduction using proposed PCMs recognition is applied to each input signal of a microphone array. The performance of daily sound recognition for separated sound sources from robot in motion is evaluated.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009