第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

θ 1s 2 (8) (7) Kullback-Leibler Divergence W (ICAl) (f) Natural Gradient l (l =1,...,L−1) ICA Nonholonomic [5] FD-SIMO-ICA l (l =1,...,L− 1) ICA 4.25 0.58 mmLoudspeakersm)(Height:1.17 ( )t s 1 ) ( tm0.74W [j+1](ICAl) (f)[ { 〈= W [j](ICAl) (f) − α off-diagΦ}Y [j](ICAl) (f,t)H〉 · W [j](ICAl) (f)t{ 〈− off-diag Φ ( L−1∑X (f,t) −l ′ =1· (X L−1∑〉 }(f,t) − Y [j](ICAl ′ ) (f,t)) Htl ′ =1(Y [j](ICAl) (f,t) )Y [j](ICAl ′ ) (f,t))( L−1∑) ]· I − W [j](ICAl ′ ) (f) (11)l ′ =1m 1.50Microphones2.04 mm)(Height:1.17 ReverberationTime: 200 msθ 2m2.02HATSm4.25Figure 4: α Φ(·) [15]Φ (Y (f,t)) ≡ [ tanh(|Y 1 (f,t)|)e j·arg(Y1(f,t)) , ··· ,tanh(|Y L (f,t)|)e j·arg(YL(f,t))] T. (12)W (ICAl) (f) FD-SIMO-ICA FD-SIMO-ICA (9), (10) 1 Ŷ 1 (f,t) =m 1 (f,t) Y (ICA1)1 (f,t) (13)m 1 (f,t) |Y (ICA1)1 (f,t)| > |Y (ICA2)2 (f,t)| m 1 (f,t) = 1 m 1 (f,t) =0 2 Ŷ 2 (f,t) =m 2 (f,t) Y (ICA1)2 (f,t) (14)m 2 (f,t) |Y (ICA1)2 (f,t)| > |Y (ICA2)1 (f,t)| m 2 (f,t) = 1 m 2 (f,t) =0L = K>2 4 4.1 Figure 4 2 2 2 200 ms Brüel & Kjær Head And Torso Simulator(HATS; Figure 5 ) 2 (θ 1 ,θ 2 ) Figure 5: Head And Torso Simulator (θ 1 ,θ 2 )=(−60 ◦ , 60 ◦ ), (−60 ◦ , 0 ◦ ) 2 2 4 HumanSpeechLikeNoise 2 3 8kHz 1024 ±15 ◦ ±30 ◦ HRTF 4.2 A∼D 4 (A) (5) (B) (2) ICA(C) ICA (D) DOA HATS() Signal-to-NoiseRatio (SNR) dB Noise Reduction Rate(NRR) [8] SNR Figure 6 NRR 12 26