第22回ロボット聴覚特集 - 奥乃研究室 - 京都大学

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RFFront Mic)(RightRRRight Mic)(RightLFFront Mic)(LeftLLLeft Mic)(Left17.8 cm20.0 cm5.1 cm7.6 cm3.8 cm9.6 cm(Figure 2)17.4 cm2.3 (a) Front view(b) Side viewFigure 1: Setting of microphones h i DFT X i (w, t) w t X i (w, t) RF X RF (w, t) LL-Mic/ RF-MicN i (w, t) =|X i(w, t)||X RF (w, t)|(i = LL, RR, LF )LF-Mic1 / RF-MicRR-MicLeft/ RF-Mic(-60deg)Front(0deg)Right(60deg)Y i (w) = 1 T∑N i (w, t) (t =1, ···,T)tFigure 2: Example of Ratios of Amplitude Spectra2.2 X(ω) G(ω) S(ω) ω |X LL (ω)| = |G LL (ω)|·|S(ω)||X RR (ω)| = |G RR (ω)|·|S(ω)||X LF (ω)| = |G LF (ω)|·|S(ω)||X RF (ω)| = |G RF (ω)|·|S(ω)|X RF (ω) |X LL (ω)||X RF (ω)| = |G LL(ω)||G RF (ω)||X RR (ω)||X RF (ω)| = |G RR(ω)||G RF (ω)||X LF (ω)||X RF (ω)| = |G LF (ω)||G RF (ω)| S(ω) Y i (w) L C c i (l) =W (w; l) =∑hiw=loW (w; l) · log N i (w) (l =1, ···,L){ w−wlo (l)w c(l)−w lo (l)w hi (l)−ww hi (l)−w c(l){w lo (l) ≤ w ≤ w c (l)}{w c (l) ≤ w ≤ w hi (l)}w lo (l)w c (l)w hi (l) l C 3 × L 2.4 2.3 90
3 HLDAMLLR [3] (Useful Information Extraction; UIE) (useful dimension) (nuisance dimension) HLDA[5] HLDA useful dimension nuisance dimension ( (1)) L(x i |μ j Σ j θ)= − 1 N∑{(θ T x i − μ g(i) ) T Σ −12g(i) (θT x i − μ g(i) )i=1+ log((2π) n |Σ g(i) |)} +log|θ| (1)θ μ j Σ j j g(i) x i g(i) 4 .4.1 Figure 3 3 1 : P 1 : X 2 : P 1 : Y Xcurtain-90degY1.1 mPosition 22.8 m1.4 m5.9 m1 m1 mPosition 12.2 m2.3 mFigure 3: Recording enveiroment10deg30deg0degforward4.2 m4.2 mLoudSpeaker Position●Robot Position ■+90degFigure 4: Direction of arrival to be recognized 3 : P 2 : Y 10 (226ms232ms237ms238ms246ms267ms282ms318ms326ms395ms) 3 10 30 Figure 4 11 (−90deg−60deg−30deg−20deg−10deg0deg10deg20deg30deg60deg90deg) 0deg4.2 ATR 10 10 ( 100 ) 32 kHz 16bit 90 10 10 100 91
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第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

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第22回ロボット聴覚特集 - 奥乃研究室 - 京都大学