Browsing by Author "Wang, Cheng-Kang"

Now showing 1 - 5 of 5

A New Design on Multi-Modal Robotic Focus Attention
(2008)
Lin, Chia-How
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Yang, Chia-Hsing
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Wang, Cheng-Kang
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Song, Kai-Tai
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Hu, Jwu-Sheng
Human detection and tracking is important for user-friendly human-robot interaction. The robot should be able to find the user autonomously and keep its attention to the user in a human-like manner. In this paper, a design and experimental study of robust human detection and tracking is presented through fusion several modalities of sensory information. The multi-modal interaction design utilizes a combination of visual, audio, and laser scanner data for reliable detection and tracking of an interested user. During tracking motion, obstacle avoidance behavior will be activated any time required to ensure safety. Furthermore, user can further assign the robot to interact with other user by speech command. Experimental results show that the robot can robustly tracks person under complex scenarios.
Estimation of Sound Source Number and Directions under a Multi-source Environment
(2009)
Hu, Jwu-Sheng
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Yang, Chia-Hsing
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Wang, Cheng-Kang
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電控工程研究所
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Institute of Electrical and Control Engineering
Sound source localization is an important feature in robot audition. This work proposes a sound source number and directions estimation method by using the delay information of microphone array. An eigenstructure-based generalized cross correlation method is proposed to estimate time delay between microphones. Upon obtaining the time delay information, the sound source direction and velocity can be estimated by least square method. In multiple sound source case, the time delay combination among microphones is arranged such that the estimated sound speed value falls within an acceptable range. By accumulating the estimation results of sound source direction and using adaptive K-means++ algorithm, the sound source number and directions can be estimated.
Simultaneous Localization of a Mobile Robot and Multiple Sound Sources Using a Microphone Array
(2011)
Hu, Jwu-Sheng
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Chan, Chen-Yu
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Wang, Cheng-Kang
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Lee, Ming-Tang
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Kuo, Ching-Yi
Sound source localization is an important function in robot audition. Most existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross-correlation method for estimating time delays between microphones under multi-source environments is described. Using the estimated time delays, a method to compute the far-field source directions as well as the speed of sound is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearing-only simultaneous localization and mapping procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown and it is solved using the FastSLAM algorithm. The experimental results demonstrate the effectiveness of the proposed method. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
Simultaneous Localization of Mobile Robot and Multiple Sound Sources Using Microphone Array
(2009)
Hu, Jwu-Sheng
;
Chan, Chen-Yu
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Wang, Cheng-Kang
;
Wang, Chieh-Chih
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電控工程研究所
Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments is described. A method to compute the far field source directions as well as the speed of sound using the estimated time delays is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearings-only SLAM procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown which is solved using FastSLAM. The experimental results demonstrate the effectiveness of the proposed approaches.
Sound Source Localization by Microphone Array on a Mobile Robot Using Eigen-Structure Based Generalized Cross Correlation
(2008)
Hu, Jwu-Sheng
;
Yang, Chia-Hsing
;
Wang, Cheng-Kang
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can be estimated using an array. Further, the correctness of sound speed estimation can be utilized to determine locations of multiple sources. This work derives in detail the method to estimate the directions of dual sources. A digital microphone array and associated acquisition system is developed for conducting the experiment. Experimental results prove the effectiveness of the proposed algorithms.