Robot recognizes three simultaneous speech by active audition

AbmacIRobots should listen lo and mognire speeehes with their own ears under noisy environments and simultaneous speeches to attain smooth commuoicatioos with people in a real world. This paper presents three simultaneous speech recognition based on active audition which integrates audition with motion. Our mbot audition system eonsbts of three modules a real-time human tracking system, an active direction-pass filter (ADPF) and a speeeh recognition system using multiple acoustic models. The real-time human tracking system realizes mbust and ~ c e ~ r a t e sound soum loealization and tracking by audio-visual integration. The performance of loealimtion shows that the resolution of the center of the mbot is much higher than that of the peripheral. We eall this phenomena “auditory fovea” because it b similar lo visual fovea (high resalution in the center of human eye). Active motions such as being direeted at the sound soume impmveloeskation because of making the best use of the auditory fovea. The ADPF realizes accurate and fast sound separation by using a pair of micmphones. The ADPF separates sounds originating fmm the specified direction obtained by the d t i m e human tracking system. Because the performance of %parationdepends on thesccuracyaf loealization, the extraction of sound fmm the fmnt direetion is more accurate than that of sound from the periphery. This means that the pass range of the ADPF should be narmwer in the fmnt direction than in the periphery. In other words, such active p a s range contml improves sound separation. The separated speech b recognized by the speech recognition using multiple acoustic models that integrates multiple mulls to output the mult with the maximum likelihwd. Active motions such as being directed at a sound wuree impmve speech reeognition beeause it realizes not only impmvement of sound extraction but also easier integration of the results using face ID by face recognition. The robat audition system improved by active audition is implemented on an upper-torso humanoid. The system attains loealization, separation and reeognitian of t h m simulhneous speeches and the results pmves the efficiency of active audition.