Sound and Visual Tracking for Humanoid Robot
Sound and Visual Tracking for Humanoid Robot
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DOI：
10.1023/b:apin.0000021417.62541.e0
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发表时间：
2001-06
影响因子：
5.3
通讯作者：
HIroshi G. Okuno;K. Nakadai;T. Lourens;H. Kitano
中科院分区：
文献类型：
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作者：
HIroshi G. Okuno;K. Nakadai;T. Lourens;H. Kitano
具有听觉感知能力的移动机器人通常采用“停止-感知-行动”原则，以避免运动过程中因电机噪声而发出声音。尽管这一原理降低了移动机器人听觉处理问题的复杂性，但它限制了它们的听觉处理能力。在本文中，研究了声音和视觉跟踪，以弥补彼此在跟踪目标方面的缺点并获得鲁棒的目标跟踪。在遮挡的情况下视觉跟踪可能很困难，而由于听觉处理的性质，声音跟踪在定位中可能不明确。为此，我们提出了一种用于人形机器人的主动试听系统。高智能类人动物的听觉系统需要对听觉场景中的声源进行定位并识别声音的含义。本文报道的主动听觉侧重于通过整合听觉、视觉和运动控制来改进声源跟踪。考虑到听觉场景中存在多个声源，SIG 类人机器人会主动移动头部，通过将麦克风与声源正交对齐并通过视觉捕获可能的声源来改善定位。该系统使用电机控制信号自适应地消除电机噪音。实验结果证明了声音和视觉跟踪的有效性。
Mobile robots capable of auditory perception usually adopt the “stop-perceive-act” principle to avoid sounds made during moving due to motor noise. Although this principle reduces the complexity of the problems involved in auditory processing for mobile robots, it restricts their capabilities of auditory processing. In this paper, sound and visual tracking are investigated to compensate each other's drawbacks in tracking objects and to attain robust object tracking. Visual tracking may be difficult in case of occlusion, while sound tracking may be ambiguous in localization due to the nature of auditory processing. For this purpose, we present an active audition system for humanoid robot. 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 control. Given the multiple sound sources in the auditory scene,SIG the humanoidactively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. The system adaptively cancels motor noises using motor control signals. The experimental result demonstrates the effectiveness of sound and visual tracking.