Probabilistic Speaker Localization in Noisy Environments by Audio-Visual Integration

Jong-suk Choi, Munsang Kim, Hyun-don Kim
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we have developed not only a probabilistic sound localization system including VAD (Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we have proposed a way to integrate these systems to compensate the errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from the undesired directions effectively. For the purpose of verifying our system's performances, we have
more » ... ormances, we have installed the proposed audition and vision system to the prototype robot, called IROBAA (Intelligent ROBot for Active Audition), and showed how to integrate an audio-visual system. Index Terms -sound localization, face tracking, voice activity detection, human robot interaction, audio-visual integration.
doi:10.1109/iros.2006.282260 dblp:conf/iros/ChoiKK06 fatcat:yymbz4jbjfbi5kqepg4yfz3i4q