Microphone array based auditory localization for rescue robot

2011 Chinese Control and Decision Conference (CCDC) ◽

10.1109/ccdc.2011.5968253 ◽

2011 ◽

Cited By ~ 5

Author(s):

Hao Sun ◽

Peng Yang ◽

Zuojun Liu ◽

Linan Zu ◽

Qinqi Xu

Keyword(s):

Microphone Array ◽

Auditory Localization ◽

Rescue Robot

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Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) ◽

10.1109/ssrr.2015.7442949 ◽

2015 ◽

Cited By ~ 10

Author(s):

Yoshiaki Bando ◽

Katsutoshi Itoyama ◽

Masashi Konyo ◽

Satoshi Tadokoro ◽

Kazuhiro Nakadai ◽

...

Keyword(s):

Microphone Array ◽

Rescue Robot ◽

Human Voice

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

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2017.p0198 ◽

2017 ◽

Vol 29 (1) ◽

pp. 198-212 ◽

Cited By ~ 7

Author(s):

Yoshiaki Bando ◽

◽

Hiroshi Saruwatari ◽

Nobutaka Ono ◽

Shoji Makino ◽

...

Keyword(s):

Microphone Array ◽

Principal Component ◽

Matrix Analysis ◽

Low Rank ◽

Low Latency ◽

High Quality ◽

Two Stage ◽

Rescue Robot ◽

Human Voice ◽

Rank Matrix

[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.

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