在人形机器人上用双耳声学信号估计扬声器方向
Pranav Barot1, Katja Mombaur1,2, Ewen N MacDonald1
1Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada.
PloS one
|January 2, 2024
概括
这项研究优化了人形机器人的到达方向 (DOA) 估计,通过准确地定位实时的人类交谈者,实现了更好的人机交互. 该方法增强了机器人语音交互能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 声学信号处理 声学信号处理
背景情况:
- 人形机器人需要精确地定位人类说话者,以进行自然语音交互.
- 现有的到达方向 (DOA) 估计方法可能不适合实时的人机交互 (HRI).
研究的目的:
- 为优化对人形机器人双耳声源声源定位中DOA估计的参数.
- 评估优化方法,考虑实时HRI约束和延迟.
主要方法:
- 在一个人形机器人头上实现了双耳声源本地化框架.
- 参数优化是使用原始力和基于贝叶斯模型的方法进行的.
- 收集了现实世界的数据,并为验证进行了注释.
主要成果:
- 该研究验证并讨论了参数优化技术的结果.
- 研究了DOA估计优化对实时应用程序延迟的影响.
结论:
- 优化的DOA估计参数提高了人形机器人定位人类交谈者的能力.
- 提出的方法适用于实时的人机交互场景,增强自然性.
相关概念视频
01:06Echo
The human ear cannot distinguish between two sources of sound if they happen to reach within a specific time interval, typically 0.1 seconds apart. More than this, and they are perceived as separate sources.
Imagine the sound is reflected back to the ears. Assuming that the source is very close to the human, the difference between hearing the two sounds—the emitted sound and the reflected sound—may be more than the minimum time for perceiving distinct sounds. If this is the case, then the...
Imagine the sound is reflected back to the ears. Assuming that the source is very close to the human, the difference between hearing the two sounds—the emitted sound and the reflected sound—may be more than the minimum time for perceiving distinct sounds. If this is the case, then the...
01:21Perceiving Loudness, Pitch, and Location
The human brain perceives pitch through two primary mechanisms reflected in place theory and frequency theory. Each mechanism describes how sound waves are interpreted as specific pitches by the brain, offering insights into the intricate processes of auditory perception.
Place theory, or place coding, suggests that different pitches are heard because various sound waves activate specific locations along the cochlea's basilar membrane. The brain determines the pitch of a sound by identifying...
Place theory, or place coding, suggests that different pitches are heard because various sound waves activate specific locations along the cochlea's basilar membrane. The brain determines the pitch of a sound by identifying...