Listening for people: Exploiting the spectral structure of speech to robustly perceive the presence of people

Hilsenbeck, B; Kirchner, N

Listening for people: Exploiting the spectral structure of speech to robustly perceive the presence of people

Hilsenbeck, B Kirchner, N

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2011, pp. 2903 - 2909
Issue Date:: 2011-12-29

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Field	Value	Language
dc.contributor.author	Hilsenbeck, B	en_US
dc.contributor.author	Kirchner, N https://orcid.org/0000-0002-3018-992X	en_US
dc.date.issued	2011-12-29	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2011, pp. 2903 - 2909	en_US
dc.identifier.isbn	9781612844541	en_US
dc.identifier.uri	http://hdl.handle.net/10453/19290
dc.description.abstract	As the desire to see robots ubiquitous in society grows, so does the need for providing the robots with the means of building awareness of any humans with which it may be sharing the environment. This paper presents a real-world suitable system which enables robots to robustly perceive the presence of people acoustically. The proposed binaural system first identifies voiced signal by means of a novel approach to Voice Activity Detection that exploits the spectral signature and characteristics of speech without reliance on a priori knowledge. Bearing estimates for each speaker are then made using a multi-track particle filter with a belief update function comprised of a Cross-correlation bearing estimate and an estimate of the speaker's fundamental frequency. Results, from an evaluation of each of the major system components and a system evaluation in which the robot successfully built human-centric situational awareness of the three humans with which it shared an office lunch-room containing typical background noises, are presented and discussed. © 2011 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2011.6048461	en_US
dc.title	Listening for people: Exploiting the spectral structure of speech to robustly perceive the presence of people	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	San Francisco, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

As the desire to see robots ubiquitous in society grows, so does the need for providing the robots with the means of building awareness of any humans with which it may be sharing the environment. This paper presents a real-world suitable system which enables robots to robustly perceive the presence of people acoustically. The proposed binaural system first identifies voiced signal by means of a novel approach to Voice Activity Detection that exploits the spectral signature and characteristics of speech without reliance on a priori knowledge. Bearing estimates for each speaker are then made using a multi-track particle filter with a belief update function comprised of a Cross-correlation bearing estimate and an estimate of the speaker's fundamental frequency. Results, from an evaluation of each of the major system components and a system evaluation in which the robot successfully built human-centric situational awareness of the three humans with which it shared an office lunch-room containing typical background noises, are presented and discussed. © 2011 IEEE.

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http://hdl.handle.net/10453/19290