Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot-Reference-Cited by-同舟云学术

Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot

Published:2017-02-20 Issue:1 Volume:29 Page:198-212
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Bando Yoshiaki, ,Saruwatari Hiroshi,Ono Nobutaka,Makino Shoji,Itoyama Katsutoshi,Kitamura Daichi,Ishimura Masaru,Takakusaki Moe,Mae Narumi,Yamaoka Kouei,Matsui Yutaro,Ambe Yuichi,Konyo Masashi,Tadokoro Satoshi,Yoshii Kazuyoshi,Okuno Hiroshi G., , , , , ,

Abstract

[abstFig src='/00290001/19.jpg' width='300' text='Human-voice enhancement system for a hose-shaped robot' ] This paper presents the design and implementation of a two-stage human-voice enhancement system for a hose-shaped rescue robot. When a microphone-equipped hose-shaped robot is used to search for a victim under a collapsed building, human-voice enhancement is crucial because the sound captured by a microphone array is contaminated by the ego-noise of the robot. For achieving both low latency and high quality, our system combines online and offline human-voice enhancement, providingan overview first and then details on demand. The online enhancement is used for searching for a victim in real time, while the offline one facilitates scrutiny by listening to highly enhanced human voices. Our online enhancement is based on an online robust principal component analysis, and our offline enhancement is based on an independent low-rank matrix analysis. The two enhancement methods are integrated with Robot Operating System (ROS). Experimental results showed that both the online and offline enhancement methods outperformed conventional methods.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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