Combined 2-D Sound Source Localization with Stereo Vision for Intelligent Human-Robot Interaction of Service Robot
Journal
IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2009)
Pages
24-29
Date Issued
2009-11
Author(s)
Abstract
We have developed an intelligent service robot which consists of several sensors and functions, such as stereo vision, sound source localization, remote supervisory and locomotion. The objective of this paper is to address a 3-dimensional sound source localization method in localizing the position of user while the user gives a command. To achieve this goal, stereo vision and audition system is combined to acquire speaker's position in 3-D coordinate. The depth information could be obtained by stereo vision, and the direction information could be obtained by audition system. We place coplanar microphone array and two identical cameras on the robot to implement this idea. In addition, an agent system is designed to combine the speech recognition system with several services which can provide more information to users and communicate with other devices. © 2009 IEEE.
Other Subjects
3-dimensional; Agent systems; Audition system; Depth information; Human -robot interactions; Intelligent Services; Microphone arrays; Service robots; Sound source localization; Speech recognition systems; Acoustic generators; Audition; Computer vision; Human computer interaction; Human robot interaction; Intelligent robots; Mobile robots; Nonlinear filtering; Robotics; Speech recognition; Stereo vision
Type
conference paper