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dc.contributor.authorSong, Kai-Taien_US
dc.contributor.authorHu, Jwu-Shengen_US
dc.contributor.authorTsai, Chi-Yien_US
dc.contributor.authorChou, Chung-Minen_US
dc.contributor.authorCheng, Chieh- Chengen_US
dc.contributor.authorLiu, Wei-Hanen_US
dc.contributor.authorYang, Chia-Hsingen_US
dc.date.accessioned2014-12-08T15:24:46Z-
dc.date.available2014-12-08T15:24:46Z-
dc.date.issued2006en_US
dc.identifier.isbn0-7803-9505-0en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/11536/17215-
dc.description.abstractThis paper presents a real-time human-robot interface system (HRIS), which processes both speech and vision information to improve the quality of communication between human and an autonomous mobile robot. The HRIS contains a real-time speech attention system and a real-time face tracking system. In the speech attention system, a microphone-array voice acquisition system has been developed to estimate the direction of speaker and purify the speaker's speech signal in a noisy environment. The developed face tracking system aims to track the speaker's face under illumination variation and react to the face motion. The proposed HRIS can provide a robot with the abilities of finding a speaker's direction, tracking the speaker's face, moving its body to the speaker, focusing its attention to the speaker who is talking to it, and purifying the speaker's speech. The experimental results show that the HRIS not only purifies speech signal with a significant performance, but also tracks a face under illumination variation in real-time.en_US
dc.language.isoen_USen_US
dc.subjecthuman-robot interactionen_US
dc.subjectDOAen_US
dc.subjectspeech enhancementen_US
dc.subjectreal-time face trackingen_US
dc.subjectillumination variationen_US
dc.titleSpeaker attention system for mobile robots using microphone array and face trackingen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10en_US
dc.citation.spage3624en_US
dc.citation.epage3629en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000240886907072-
Appears in Collections:Conferences Paper