In this paper, a multimodal system is designed in the form of an active audio-vision in order to improve the perceptual capability of a robot in a noisy environment. The system running in real-time consists of 1) audition modality, 2) a complementary vision modality and 3) motion modality incorporating intelligent behaviors based on the data obtained from both modalities. The tasks of audition and vision are to detect, localize and track a speaker independently. The aim of motion modality is to enable a robot to have intelligent and human-like behaviors by using localization results from the sensor fusion. The system is implemented on a mobile robot platform in a real-time environment and the speaker tracking performance of the fusion is confirmed to be improved compared to each of sensory modalities.


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    Titel :

    Audio-visual human tracking for active robot perception


    Beteiligte:
    Bayram, Baris (Autor:in) / Ince, Gokhan (Autor:in)


    Erscheinungsdatum :

    01.05.2015


    Format / Umfang :

    531178 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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