Bearing-only acoustic tracking of moving speakers for robot audition
Bearing-only acoustic tracking of moving speakers for robot audition
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.
Acoustic signal processing, Acoustic tracking, Bearing-only tracking, Clutter, Missing detections, Speaker tracking
1206-1210
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Moore, Alastair H.
58d011fd-6a02-449a-9b77-651e8c86166e
Naylor, Patrick A.
13079486-664a-414c-a1a2-01a30bf0997b
Sheaffer, Jonathan
5897477b-17fa-4313-836d-b53fa20d778d
Rafaely, Boaz
0839a7e8-bdbc-4f46-b57b-a9e5c625e968
9 September 2015
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Moore, Alastair H.
58d011fd-6a02-449a-9b77-651e8c86166e
Naylor, Patrick A.
13079486-664a-414c-a1a2-01a30bf0997b
Sheaffer, Jonathan
5897477b-17fa-4313-836d-b53fa20d778d
Rafaely, Boaz
0839a7e8-bdbc-4f46-b57b-a9e5c625e968
Evers, Christine, Moore, Alastair H., Naylor, Patrick A., Sheaffer, Jonathan and Rafaely, Boaz
(2015)
Bearing-only acoustic tracking of moving speakers for robot audition.
In 2015 IEEE International Conference on Digital Signal Processing, DSP 2015.
vol. 2015-September,
IEEE.
.
(doi:10.1109/ICDSP.2015.7252071).
Record type:
Conference or Workshop Item
(Paper)
Abstract
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.
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More information
Published date: 9 September 2015
Venue - Dates:
IEEE International Conference on Digital Signal Processing, DSP 2015, , Singapore, Singapore, 2015-07-21 - 2015-07-24
Keywords:
Acoustic signal processing, Acoustic tracking, Bearing-only tracking, Clutter, Missing detections, Speaker tracking
Identifiers
Local EPrints ID: 446042
URI: http://eprints.soton.ac.uk/id/eprint/446042
PURE UUID: dfd6b444-84ef-4b71-8c63-d9ba48e9d3af
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Date deposited: 19 Jan 2021 17:33
Last modified: 17 Mar 2024 04:01
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Contributors
Author:
Christine Evers
Author:
Alastair H. Moore
Author:
Patrick A. Naylor
Author:
Jonathan Sheaffer
Author:
Boaz Rafaely
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