第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

S 1 (f)S 2 (f)+θ 1 θ 2Sound sourcesS (f) LMicrophonesHead ofhumanoid robotFigure 1: 2 BSS2.1 K L L θ l (l =1, ··· ,L) (Figure 1)K = L ...X (f) =A(f)S (f) (1) X (f) =[X 1 (f) ,...,X K (f)] T S (f,t) =[S 1 (f) ,...,S L (f)] T A(f) =[A kl (f)] kl[·] ij i j · A(f)2.2 ICA BSS ICA (FDICA) (DFT) X(f,t) =[X 1 (f,t),...,X K (f,t)] T – W (f) =[W lk (f)] lk Y (f,t) =[Y 1 (f,t),...,Y K (f,t)] T Y (f,t) =W (f)X(f,t) (2) W (f) [ 〈W [i+1] (f) =η I − Φ (Y (f,t)) Y (f,t) H〉 ]W [i] (f)t+ W [i] (f) (3) I 〈·〉 tX H [i] i η Φ (Y (f,t)) [15]Φ (Y (f,t)) ≡[e j·arg(Y1(f,t)) ,...,e j·arg(YL(f,t))] T(4)arg(·) [8, 16] (a) Proposed two-stage BSSSourcesignalsS 1(f)A(f)S (f)2ObservedsignalsX (f) 1X (f)2SIMOmodelbasedICA(b) Simple combination of conventional ICA and binary maskSourcesignalsS (f)2ObservedsignalsS 1(f) X (f)A(f)ICAA 11(f)S 1(f,t)A 21(f)S 1(f,t)Binary maskprocessingY 1(f,t)A 12(f)S 2(f,t)Binary maskA (f)S (f,t) processing22 2Y 2(f,t)B 1(z)s 1(t)1 Y 1(f,t)X (f)2B (z)s (t)2 2Binary maskprocessingY 2(f,t)Figure 2: (a) 2 BSS(b) ICA (K = L =2)2.3 BSS [12, 13, 14] ICA BSS () –l l L =2l Ŷ l (f,t) =m l (f,t) X l (f,t) (5) m l (f,t) |X l (f,t)| >|X k (f,t)| (k ≠ l) m l (f,t) = 1m l (f,t) =0– ()3 2 BSS 3.1 SIMO-ICA [10,11] SIMO 24