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Bearing-only acoustic tracking of moving speakers for robot audition

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
Institute of Electrical and Electronics Engineers Inc.
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
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, Institute of Electrical and Electronics Engineers Inc. pp. 1206-1210 . (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.

Full text not available from this repository.

More information

Published date: 9 September 2015
Venue - Dates: IEEE International Conference on Digital Signal Processing, DSP 2015, , Singapore, Singapore, 2015-07-20 - 2015-07-23
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
ORCID for Christine Evers: ORCID iD orcid.org/0000-0003-0757-5504

Catalogue record

Date deposited: 19 Jan 2021 17:33
Last modified: 18 Feb 2021 17:41

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