Development of Robot Audition based on Computational Auditory Scene Analysis

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Three main features of Computational Auditory Scene Analysis, sound source localization, sound source separation, and recognition of separated sounds, have been developed and their collections are made available as an open-sourced robot audition software called "HARK". As a proof of concepts in this robot audition, we developed "Prince Shotoku" robots that can listen to simultaneous talkers, and a spoken dialogue system that accepts a barge-in utterance of the user. We also developed various technologies to separate musical instrument parts for polyphonic performance, and real-time score following systems. These musical-related technologies are applied to make musical robots to play ensemble with human players