Human-Robot Interaction in Real Environments by Audio-Visual Integration

摘要

Abstract: In this paper, we developed not only a reliable sound localization system including a VAD (Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we proposed a way to integrate three systems in the human-robot interaction to compensate errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from undesired directions effectively. For the purpose of verifying our system’s performances, we installed the proposed audio-visual system in a prototype robot, called IROBAA (Intelligent ROBot for Active Audition), and demonstrated how to integrate the audio-visual system. Keywords: Audio-visual integration, face tracking, human-robot interaction, sound source localization, voice activity detection. 1.