Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00212562" target="_blank" >RIV/68407700:21230/13:00212562 - isvavai.cz</a>
Result on the web
<a href="http://hal.inria.fr/hal-00861465/PDF/main_final.pdf" target="_blank" >http://hal.inria.fr/hal-00861465/PDF/main_final.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Active-Speaker Detection and Localization with Microphones and Cameras Embedded into a Robotic Head
Original language description
In this paper we present a method for detecting and localizing an active speaker, i.e., a speaker that emits a sound, through the fusion between visual reconstruction with a stereoscopic camera pair and sound-source localization with several microphones.Both the cameras and the microphones are embedded into the head of a humanoid robot. The proposed statistical fusion model associates 3D faces of potential speakers with 2D sound directions. The paper has two contributions: (i) a method that discretizesthe two-dimensional space of all possible sound directions and that accumulates evidence for each direction by estimating the time difference of arrival (TDOA) over all the microphone pairs, such that all the microphones are used simultaneously and symmetrically and (ii) an audio-visual alignment method that maps 3D visual features onto 2D sound directions and onto TDOAs between microphone pairs. This allows to implicitly represent both sensing modalities into a common audiovisual coord
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proc. Humanoids 2013: IEEE International Conference on Humanoid Robots
ISBN
978-1-4799-2618-3
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
203-210
Publisher name
IEEE Robotics and Automation Society
Place of publication
Piscataway
Event location
Atlanta
Event date
Oct 15, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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