Minimum Sound Energy For Audition

Real-time sound source localization and separation for robot audition

Robot audition in the real world should cope with environment noises and reverberation and motor noises caused by the robot’s own movements. This paper presents the active direction-pass filter (ADPF) to separate sounds originating from the specified direction with a pair of microphones. The ADPF is implemented by hierarchical integration of visual and auditory processing with hypothetical reas...

Epipolar geometry based sound localization and extraction for humanoid audition

Sound localization for a robot or an embedded system is usually solved by using Interaural Phase Di erence (IPD) and Interaural Intensity Di erence (IID). These values are calculated by using Head-Related Transfer Function (HRTF). However, HRTF depends on the shape of head and also changes as environments changes. Therefore, sound localization without HRTF is needed for real-world applications....

Separation of Sound Sources: a Machine Audition Perspective

Active Audition for Humanoid

In this paper, we present an active audition system for humanoid robot “SIG the humanoid”. The audition system of the highly intelligent humanoid requires localization of sound sources and identification of meanings of the sound in the auditory scene. The active audition reported in this paper focuses on improved sound source tracking by integrating audition, vision, and motor movements. Given ...

The geometric minimum action method for computing minimum energy paths.

An algorithm is proposed to calculate the minimum energy path (MEP). The algorithm is based on a variational formulation in which the MEP is characterized as the curve minimizing a certain functional. The algorithm performs this minimization using a preconditioned steepest-descent scheme with a reparametrization step to enforce a constraint on the curve parametrization.