Speaker attention system for mobile robots using microphone array and face tracking

Kai-Tai Song*, Jwu-Sheng Hu, Chi Yi Tsai, Chung Min Chou, Chieh Cheng Cheng, Wei Han Liu, Chia Hsing Yang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

This paper presents a real-time human-robot interface system (HRIS), which processes both speech and vision information to improve the quality of communication between human and an autonomous mobile robot. The HRIS contains a real-time speech attention system and a real-time face tracking system. In the speech attention system, a microphone-array voice acquisition system has been developed to estimate the direction of speaker and purify the speaker's speech signal in a noisy environment. The developed face tracking system aims to track the speaker's face under illumination variation and react to the face motion. The proposed HRIS can provide a robot with the abilities of finding a speaker's direction, tracking the speaker's face, moving its body to the speaker, focusing its attention to the speaker who is talking to it, and purifying the speaker's speech. The experimental results show that the HRIS not only purifies speech signal with a significant performance, but also tracks a face under illumination variation in real-time.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3624-3629
Number of pages6
DOIs
StatePublished - 27 Dec 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • DOA
  • Human-robot interaction
  • Illumination variation
  • Real-time face tracking
  • Speech enhancement

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    Song, K-T., Hu, J-S., Tsai, C. Y., Chou, C. M., Cheng, C. C., Liu, W. H., & Yang, C. H. (2006). Speaker attention system for mobile robots using microphone array and face tracking. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3624-3629). [1642255] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642255