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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F13%3A00212562%21RIV14-MSM-21230___
rdf:type
n8:Vysledek skos:Concept
rdfs:seeAlso
http://hal.inria.fr/hal-00861465/PDF/main_final.pdf
dcterms:description
In this paper we present a method for detecting and localizing an active speaker, i.e., a speaker that emits a sound, through the fusion between visual reconstruction with a stereoscopic camera pair and sound-source localization with several microphones. Both the cameras and the microphones are embedded into the head of a humanoid robot. The proposed statistical fusion model associates 3D faces of potential speakers with 2D sound directions. The paper has two contributions: (i) a method that discretizes the two-dimensional space of all possible sound directions and that accumulates evidence for each direction by estimating the time difference of arrival (TDOA) over all the microphone pairs, such that all the microphones are used simultaneously and symmetrically and (ii) an audio-visual alignment method that maps 3D visual features onto 2D sound directions and onto TDOAs between microphone pairs. This allows to implicitly represent both sensing modalities into a common audiovisual coordinate frame. Using simulated as well as real data, we quantitatively assess the robustness of the method against noise and reverberations, and we compare it with several other methods. Finally, we describe a real-time implementation using the proposed technique and with a humanoid head embedding four microphones and two cameras: this enables natural human-robot interactive behavior. In this paper we present a method for detecting and localizing an active speaker, i.e., a speaker that emits a sound, through the fusion between visual reconstruction with a stereoscopic camera pair and sound-source localization with several microphones. Both the cameras and the microphones are embedded into the head of a humanoid robot. The proposed statistical fusion model associates 3D faces of potential speakers with 2D sound directions. The paper has two contributions: (i) a method that discretizes the two-dimensional space of all possible sound directions and that accumulates evidence for each direction by estimating the time difference of arrival (TDOA) over all the microphone pairs, such that all the microphones are used simultaneously and symmetrically and (ii) an audio-visual alignment method that maps 3D visual features onto 2D sound directions and onto TDOAs between microphone pairs. This allows to implicitly represent both sensing modalities into a common audiovisual coordinate frame. Using simulated as well as real data, we quantitatively assess the robustness of the method against noise and reverberations, and we compare it with several other methods. Finally, we describe a real-time implementation using the proposed technique and with a humanoid head embedding four microphones and two cameras: this enables natural human-robot interactive behavior.
dcterms:title
Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head
skos:prefLabel
Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head
skos:notation
RIV/68407700:21230/13:00212562!RIV14-MSM-21230___
n8:predkladatel
n17:orjk%3A21230
n3:aktivita
n10:P
n3:aktivity
P(7E10047), P(GBP103/12/G084)
n3:dodaniDat
n18:2014
n3:domaciTvurceVysledku
n22:9680411
n3:druhVysledku
n14:D
n3:duvernostUdaju
n21:S
n3:entitaPredkladatele
n15:predkladatel
n3:idSjednocenehoVysledku
59409
n3:idVysledku
RIV/68407700:21230/13:00212562
n3:jazykVysledku
n16:eng
n3:klicovaSlova
audio-visual fusion; multi-modal preception; directional hearing; stero-vision
n3:klicoveSlovo
n11:directional%20hearing n11:multi-modal%20preception n11:audio-visual%20fusion n11:stero-vision
n3:kontrolniKodProRIV
[496B78CBB356]
n3:mistoKonaniAkce
Atlanta
n3:mistoVydani
Piscataway
n3:nazevZdroje
Proc. Humanoids 2013: IEEE International Conference on Humanoid Robots
n3:obor
n23:JD
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
6
n3:projekt
n7:GBP103%2F12%2FG084 n7:7E10047
n3:rokUplatneniVysledku
n18:2013
n3:tvurceVysledku
Sanchez-Riera, J. Mittal, R. Horaud, R. Čech, Jan Alameda-Pineda, X. Deleforge, A.
n3:typAkce
n6:WRD
n3:zahajeniAkce
2013-10-15+02:00
s:numberOfPages
8
n9:hasPublisher
IEEE Robotics and Automation Society
n5:isbn
978-1-4799-2618-3
n13:organizacniJednotka
21230