Estimating speaker direction on a humanoid robot with binaural acoustic signals

被引：0

作者：

Barot, Pranav ^{[1
]}

Mombaur, Katja ^{[1
,2
]}

Macdonald, Ewen N. ^{[1
]}

机构：

[1] Univ Waterloo, Dept Syst Design Engn, Waterloo, ON, Canada

[2] Inst Anthropomat & Robot IAR, Karlsruhe Inst Technol KIT, Optimizat & Biomech Human Centred Robot, Karlsruhe, Germany

来源：

PLOS ONE | 2024年 / 19卷 / 01期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1371/journal.pone.0296452

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA) estimation, while also considering real-time applications for human-robot interaction scenarios. This method is applied to binaural sound source localization framework on a humanoid robotic head. Real data is collected and annotated for this work. Optimizations are performed via a brute force method and a Bayesian model based method, results are validated and discussed, and effects on latency for real-time use are also explored.

引用

页数：27

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