Study on Computational Auditory Scene Analysis for Humanoids by Active Audition

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Robot audition is a capability in which a humanoid can hear sounds with its own microphones (ears) mounted on its body. Since humanoids usually hear a mixture of sounds in the real world, Computational Auditory Scene Analysis (CASA) of which essential functions consist of sound source localization, separation, and recognition of separated sounds is required to realize the capability of listening to several things simultaneously, like "Shotoku-Taishi" (Prince Shotoku). We have obtained the following research results :1) CASA functions with less prior information :The missing-feature based approach integrated sound localization (MUSIC, or steered beamformer), sound source separation (Geometrical Source Separation, or Independent Component Analysis), and automatic speech recognition (Mulit-band Julius, or CTK) by developing automatic missing feature mask generation. The whole system was implemented on the FlowDesigner architecture, so that recognizing three simultaneous speech was perform … More ed with latency of 1.9 sec. This result confirmed the validity of our approach on different humanoids including SIG2, Robovie-R2, and ASIMO.2) Distance-based behavior selection :The interaction strategy based on the distance between the humanoid and people according to Proxemics was devised to select an appropriate interaction partner. This system implemented on SIG-2 Humanoid was demonstrated for three months at the Kyoto University Museum to confirm its effectiveness in multiple person interaction.3) Robust face tracking was developed based on Color-target Detection Based on Nearest Neighbor Classifier to improve the performance of moving talker tracking.4) Music information technologies for polyphonic music, including musical instrument recognition, drum sound extraction, and singer recognition, were developed for humanoids to hear music.5) User model and error recovery from speech recognition errors were developed to improve the usability of multi-domain spoken dialogue system.6) Automatic onomatopoeia recognition system was developed to use environmental sounds in humanoid-human interaction.Future work includes the design and development of robot audition based on CASA. Less