Examinando por Autor "Rivas, Fernando"
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Ítem Attentional Mechanism Based on a Microphone Array for Embedded Devices and a Single Camera(Springer, 2018-11-21) Martínez-Colón, Antonio; Pérez-Lorenzo, José Manuel; Rivas, Fernando; Viciana-Abad, Raquel; Reche-López, PedroThis work presents an attentional mechanism with the capability of detecting the localization of a speaker for interaction purposes, based on audio and video information. The localization is computed in terms of azimuth and elevation angles, to be used as input values for controlling mobile systems such as a pan-tilt videocamera or a robotic head. For this purpose the SRP-PHAT algorithm has been implemented with a commercial array of microphones for embedded devices, in order to estimate the localization of a sound source in the surroundings of the array. In order to improve the limitations of the SRP-PHAT algorithm in the estimation of the z coordinate, the elevation angle is corrected via video information by using Haar cascade classifiers for face detection. Simulations and experiments show the accuracy of the system, as well as the application for controlling a pan-tilt videocamera in a real scenario with speakers and ambient noise.Ítem Binaural lateral localization of multiple sources in real environments using a kurtosis-driven split-EM algorithm(Elsevier, 2018-03) Reche-Lopez, Pedro; Pérez-Lorenzo, José Manuel; Rivas, Fernando; Viciana-Abad, RaquelIn this work a method for an unsupervised lateral localization of simultaneous sound sources is presented. Following a binaural approach, the kurtosis-driven split-EM algorithm (KDS-EM) implemented is able to estimate the direction of arrival of relevant sound sources without knowing a priori their number. Information about the localization is integrated within a period of observation time to serve as an auditory memory in the context of social robotics. Experiments have been conducted using two types of observation times, one shorter with the purpose of analyzing its performance in a reactive level, and other longer that allows the analysis of its contribution as an input of the building process of the sorroundings auditory models that serves to drive a more deliberative behavior. The system has been tested in real and reverberant environments, achieving a good performance based on an over-modeling process that is able to isolate the location of the relevant sources from adverse acoustic effects, such as reverberations.