Examinando por Autor "Viciana-Abad, Raquel"
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Ítem An audio enhancement system to improve intelligibility for social-awareness in HRI(Springer, 2021-08-28) Martínez-Colón, Antonio; Viciana-Abad, Raquel; Pérez-Lorenzo, José Manuel; Evers, Christine; Naylor, Patrick A.Improving the ability to interact through voice with a robot is still a challenge especially in real environments where multiple speakers coexist. This work has evaluated a proposal based on improving the intelligibility of the voice information that feeds an existing ASR service in the network and in conditions similar to those that could occur in a care centre for the elderly. The results indicate the feasibility and improvement of a proposal based on the use of an embedded microphone array and the use of a simple beamforming and masking technique. The system has been evaluated with 12 people and results obtained for time responsiveness indicate that the system would allow natural interaction with voice. It is shown to be necessary to incorporate a system to properly employ the masking algorithm, through the intelligent and stable estimation of the interfering signals. In addition, this approach allows to fix as sources of interest other speakers not located in the vicinity of the robot.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.Ítem Evaluation of a Multi-speaker System for Socially Assistive HRI in Real Scenarios(Springer, 2020-11-03) Martínez-Colón, Antonio; Viciana-Abad, Raquel; Pérez-Lorenzo, José Manuel; Evers, Christine; Naylor, Patrick A.In the field of social human-robot interaction, and in particular for social assistive robotics, the capacity of recognizing the speaker’s discourse in very diverse conditions and where more than one interlocutor may be present, plays an essential role. The use of a mics. array that can be mounted in a robot supported by a voice enhancement module has been evaluated, with the goal of improving the performance of current automatic speech recognition (ASR) systems in multi-speaker conditions. An evaluation has been made of the improvement in terms of intelligibility scores that can be achieved in the operation of two off-the-shelf ASR solutions in situations that contemplate the typical scenarios where a robot with these characteristics can be found. The results have identified the conditions in which a low computational cost demand algorithm can be beneficial to improve intelligibility scores in real environments.