HARK-Binaural Raspberry Pi 2 1,a) 1 1 1 2 3 () 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, 606 8501, Japan 2,, HRI-JP, Wako, Saitama, 351 0188, Japan 3, Waseda Univ., Shinjuku, Tokyo, 169 0072, Japan a) yoshiaki@kuis.kyoto-u.ac.jp *1 http://www.hark.jp/ [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.tu-berlin.de/ 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
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 1 1 1 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 2 17.6 2 () http://winnie.kuis.kyoto-u.ac. jp/members/yoshiaki/demo/sigmus107/ 3
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 5.1 4 2-ch 3 2 USB Raspberry Pi 2 5.2 5 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.24220006 [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. 1712 1716 (2014). [4] rospeex ROS (CNR2013-10) Vol. 113, pp. 7 10 (2013). 4
[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. 1161 1173 (2013). [7] Cote, C. et al.: Code reusability tools for programming mobile robots, Proc. of IEEE/RSJ IROS 2004, Vol. 2, pp. 1820 1825 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. 1013 1016 (2001). [9] Nakamura, K. et al.: Intelligent sound source localization and its application to multimodal human tracking, IEEE/RSJ IROS 2011, pp. 143 148 (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. 1476 1485 (2010). [11] Okuno, H. G. et al.: Robot Audition: Missing Feature Theory Approach and Active Audition, Robotics Research, Springer, pp. 227 244 (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. 320 327 (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