HRTF-based Two-Dimensional Robust Least-Squares Frequency-Invariant Beamformer Design for Robot Audition

H. Barfuss, M. Buerger, J. Podschus, and W. Kellermann (FAU Erlangen-Nuremberg)

Workshop on on Hands-free Speech Communication and Microphone Arrays (HSCMA), San Francisco, USA, March 1-3, 2017

[showhide type=”Abstract”] Abstract: In this work, we propose a two-dimensional Head-Related Transfer Function (HRTF)-based robust beamformer design for robot audition, which allows for explicit control of the beamformer response for the entire three-dimensional sound field surrounding a humanoid robot. We evaluate the proposed method by means of both signal-independent and signal-dependent measures in a robot audition scenario. Our results confirm the effectiveness of the proposed two-dimensional HRTF-based beamformer design, compared to our previously published one-dimensional HRTF-based beamformer design, which was carried out for a fixed elevation angle only. [/showhide]

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