IPSJ SIG Technical Report Vol.2015-MUS-107 No /5/23 HARK-Binaural Raspberry Pi 2 1,a) ( ) HARK 2 HARK-Binaural A/D Raspberry Pi 2 1.
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1 HARK-Binaural Raspberry Pi 2 1,a) () HARK 2 HARK-Binaural A/D Raspberry Pi 2 1. [1,2] [2 5] () HARK (Honda Research Institute Japan audition for robots with Kyoto University) *1 GUI ( 1) Python ROS [5] HARK HARK-Binaural 1, Kyoto Univ., Sakyo, Kyoto, , Japan 2,, HRI-JP, Wako, Saitama, , Japan 3, Waseda Univ., Shinjuku, Tokyo, , Japan a) yoshiaki@kuis.kyoto-u.ac.jp *1 [6] A/D HARK HARK-Binaural Raspberry Pi 2 Rapiro. 2. HARK rospeex Two!Ears rospeex [4] ROS 1) 2) 3) 3 Google API rospeex ROS HARK HARK 1
![¾t ¾ â 1: HARK Two!Ears *2 3. HARK HARK HARK [3] HARK [1] 3.1 HARK 1) 2) 2 [3]. HARK Flowdesiner [7] batchflow wios harktool Microsoft Kinect Playstation Eye HARK 1 GUI (HARK *2 http://twoears.aipa.](/docs-images/104/163233692/images/2-0.jpg "tu-berlin.de/ Desiner) linux apt windows 3.")
2 ¾t ¾ â 1: HARK Two!Ears *2 3. HARK HARK HARK [3] HARK [1] 3.1 HARK 1) 2) 2 [3]. HARK Flowdesiner [7] batchflow wios harktool Microsoft Kinect Playstation Eye HARK 1 GUI (HARK *2 Desiner) linux apt windows 3.2 MUSIC (MUltiple SIgnal Classification) [8] MUSIC HARK GEVD-MUSIC GSVD-MUSIC [9] GHDSS-AS (Geometric High-order Decorrelation Source Separation with Adaptive Stepsize) [10] GHDSS-AS GHDSS-AS (Adaptive Stepsize) MFT (Missing Future Theory) [11] MFCC MSLS HARK- MUSICKinect OpenCV HARK- 2
3 SourceSeparation 1: Hark-Binaural SpeechEnhanvement BinauralMultisourceLocalization BinauralMultisourceTracker VoiceActivityDetection SpectrumVisualization SSLVisualization VADVisualization WaveVisualization Kinect, HARK-OpenCV 4. HARK-Binaural HARK-Binaural 1 HARK-Binaural 4.1 HARK-Binaural 1) 2) HARK 1) HARK MUSIC [9] A/D A/D A/D Armadillo 2) HARK-Binaural HARK HARK BinauralMultisourceTracker HARK-SSS Beamforming () 4.2 BinauralMultisourceLocalization GCC-PHAT [12] HARK MUSIC dynamic K-mans [6] BinauralMultisourceTracker 2: SSLVisualization 3 BinauralMultisourceLocalization 1 VoiceActivityDetection [13] HARK-Binaural ( 1 ) 2-30, 0, 60 BinauralMultisourceLocalization SSLVisualization 5. Raspberry Pi 2 Raspberry Pi 2 Rapiro ( 3) HARK-Binaural Raspberry Pi 2 900MHz ARM Cortex-A7 4 Debian Raspbian HARK Raspbian HARK MUSIC HARK-Binaural BinauralMultisourceLocalization 60 Raspberry Pi () jp/members/yoshiaki/demo/sigmus107/ 3
4 d d 3: HARK-Binaural ¾t 4: Â 5: â Ì 2: HARK AudioStreamFromMic MultiFFT SourceTracker SourceIntervalExtender HARK-Binaural BinauralMultisourceLocalization BinauralMultisourceTracker HARK-ROS HarkMsgsStreamFromRos HarkMsgsSubscriber RosHarkMsgsPuclisher HARK-SSS Beamforming ch 3 2 USB Raspberry Pi ROS HARK HARK-ROS ROS CCD ROS HARK-ROS 1) 2) 3) () 3 6. HARK- Binaural Raspberry Pi 2 A/D HARK-Binaural Armadillo Raspberry Pi 2 (S) No [1] Rosenthal, D. F. et al.: Computational Auditory Scene Analysis, Lawrence Erlbaum (1998). [2] Bradski, G. et al.: Learning OpenCV: Computer vision with the OpenCV library, O Reilly Media, Inc. (2008). [3] HARK 15 pp (2014). [4] rospeex ROS (CNR ) Vol. 113, pp (2013). 4
5 [5] Quigley, M. et al.: ROS: an open-source Robot Operating System, ICRA workshop on open source software, Vol. 3, No. 3.2, p. 5 (2009). [6] Kim, U.-H. et al.: Improved binaural sound localization and tracking for unknown time-varying number of speakers, Advanced Robotics, Vol. 27, No. 15, pp (2013). [7] Cote, C. et al.: Code reusability tools for programming mobile robots, Proc. of IEEE/RSJ IROS 2004, Vol. 2, pp vol.2 (2004). [8] Asano, F. et al.: Real-time sound source localization and separation system and its application to automatic speech recognition., Proc. of Interspeech 2001, pp (2001). [9] Nakamura, K. et al.: Intelligent sound source localization and its application to multimodal human tracking, IEEE/RSJ IROS 2011, pp (2011). [10] Nakajima, H. et al.: Blind Source Separation with Parameter-Free Adaptive Step-Size Method for Robot Audition, IEEE TASLP, Vol. 18, No. 6, pp (2010). [11] Okuno, H. G. et al.: Robot Audition: Missing Feature Theory Approach and Active Audition, Robotics Research, Springer, pp (2011). [12] Knapp, C. et al.: The generalized correlation method for estimation of time delay, IEEE Transactions on Acoustics, Speech and Signal Processing (ASSP), Vol. 24, No. 4, pp (1976). [13] Sohn, J. et al.: A statistical model-based voice activity detection, IEEE Signal Processing Letters, Vol. 6, No. 1, pp. 1 3 (1999). 5
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HARK 1,2, 3 1( ) 2 3 Introduction to Robot Audition Open Source Software HARK Kazuhiro Nakadai 1,2, Hiroshi G. Okuno 3. 1 Honda Research Institute Japan Co., Ltd. 2 Tokyo Institute of Technology, 3 Waseda
1. HNS [1] HNS HNS HNS [2] HNS [3] [4] [5] HNS 16ch SNR [6] 1 16ch 1 3 SNR [4] [5] 2. 2 HNS API HNS CS27-HNS [1] (SOA) [7] API Web 2
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THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. 657 8531 1 1 E-mail: {soda,matsubara}@ws.cs.kobe-u.ac.jp, {masa-n,shinsuke,shin,yosimoto}@cs.kobe-u.ac.jp,
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HARK Designer Documentation 0.5.0 HARK support team 2013 08 13 Contents 1 3 2 5 2.1.......................................... 5 2.2.............................................. 5 2.3 1: HARK Designer.................................
光学
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A Navigation Algorithm for Avoidance of Moving and Stationary Obstacles for Mobile Robot Masaaki TOMITA*3 and Motoji YAMAMOTO Department of Production
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Vol.55 No.1 2 15 (Jan. 2014) 1,a) 2,3,b) 4,3,c) 3,d) 2013 3 18, 2013 10 9 saccess 1 1 saccess saccess Design and Implementation of an Online Tool for Database Education Hiroyuki Nagataki 1,a) Yoshiaki
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特別寄稿 ソフトインフラとしてのデジタル地図を活用した自動運転システム Autonomous vehicle using digital map as a soft infrastructure 菅沼直樹 Naoki SUGANUMA 1. はじめに 1) 2008 2012 ITS 2) CO 2 3) 4) Door to door Door to door Door to door DARPA(