Source Localization, Speech Enhancement and Recognition of a Singing Robot

• Main Authors: Kuei, Chen-Yi, 桂振益
• Other Authors: Bai, Ming-Sian
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/89646408082160026854

碩士 === 國立交通大學 === 機械工程學系 === 98 === Nowadays, there are a variety of functional robots included security robot, military robot, household robot and recreational robot, etc. With social progress and the attention of quality life, entertainment undertakings play an important role recently. In this thesis, we present a nickelodeon robot with simultaneous human-tracking. Therefore, the robot contains source localization and speech recognition techniques. The methods of source localization include object-related transfer function (ORTF) based, cross correlation (CC) and generalized cross correlation (CC) method. We recognize words by employing dynamic time warping (DTW) to do dynamic matching after feature extraction. For the purpose of increasing the purity of the command voice, we adopt speech enhancement which contains array signal processing and phase difference (PD) method. All algorithms we take the best one of each purpose to implement on the LEGO NXT robot controlled by Windows-based NI DAQ system.