The ManyEars open framework

Grondin, François; Létourneau, Dominic; Ferland, François; Rousseau, Vincent; Michaud, François

doi:10.1007/s10514-012-9316-x

Cited by 60 publications

(50 citation statements)

References 21 publications

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“…Importantly, a lot of the aforementioned contributions have been integrated within open software frameworks and hardware, making the most advanced approaches accessible to non-experts in the field. The most advanced solutions are the HARK (HRI-JP audition for robots with Kyoto University) software [103], the ManyEars framework [104], or the EAR (Embedded Audition for Robotics) system [105,76].…”

Section: Resultsmentioning

confidence: 99%

A survey on sound source localization in robotics: From binaural to array processing methods

Argentieri

Danès

Souères

2015

Computer Speech & Language

136

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This paper attempts to provide a state-of-the-art of sound source localization in Robotics. Noticeably, this context raises original constraints-e.g. embeddability, real time, broadband environments, noise and reverberation-which are seldom simultaneously taken into account in Acoustics or Signal Processing. A comprehensive review is proposed of recent robotics achievements, be they binaural or rooted in Array Processing techniques. The connections are highlighted with the underlying theory as well as with elements of physiology and neurology of human hearing.

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Section: Resultsmentioning

confidence: 99%

A survey on sound source localization in robotics: From binaural to array processing methods

Argentieri

Danès

Souères

2015

Computer Speech & Language

136

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“…In addition, the proposed system occupies up to 7% of the CPU resources when active. To put this in perspective, the ManyEars application [12], running in the same machine, occupies a 38.6 MB memory footprint and up to 61% of the CPU resources. This implies that the proposed approach is carrying multi-DOA estimation, with high F1 scores and low error rates, using a very small resource footprint.…”

Section: Resource Requirementsmentioning

confidence: 99%

“…A current popular solution to the multi-DOA estimation problem was presented in [11], which is arguably the starting point of two important robot audition projects: ManyEars [12] and HARK [13]. This solution requires an eight-microphone hardware solution but is able to detect accurately four moving speakers and up to seven static speakers if given enough time.…”

Section: Introductionmentioning

confidence: 99%

Lightweight multi-DOA tracking of mobile speech sources

Rascón

Fuentes

Meza

2015

J AUDIO SPEECH MUSIC PROC.

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Estimating the directions of arrival (DOAs) of multiple simultaneous mobile sound sources is an important step for various audio signal processing applications. In this contribution, we present an approach that improves upon our previous work that is now able to estimate the DOAs of multiple mobile speech sources, while being light in resources, both hardware-wise (only using three microphones) and software-wise. This approach takes advantage of the fact that simultaneous speech sources do not completely overlap each other. To evaluate the performance of this approach, a multi-DOA estimation evaluation system was developed based on a corpus collected from different acoustic scenarios named Acoustic Interactions for Robot Audition (AIRA).

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“…Differential Elastic Actuators (DEAs) [44] are used to provide force control and feedback to its manipulators. ManyEars [45] is the sound source localization, tracking and separation algorithm used with the 8-microphone array on IRL-1. IRL-1 can be installed on an omnidirectional, non-holonomic and compliant mobile platform [43] or on a differential-drive mobile base (referred to as TR for Telerobot) [46], as shown in Fig.…”

Section: Implementing Hbba On a Robot Platformmentioning

confidence: 99%

Coordination mechanism for integrated design of Human-Robot Interaction scenarios

Ferland

Reveleau

Leconte

et al. 2017

Paladyn, Journal of Behavioral Robotics

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Abstract:The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA's generic coordination mechanism of behavior-producing modules, which allows to address a wide range or cognitive capabilities ranging from assisted teleoperation to selective attention and episodic memory. Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal teleoperation with physical guidance interaction, fetching-anddelivering and tour-guiding.

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The ManyEars open framework

Cited by 60 publications

References 21 publications

A survey on sound source localization in robotics: From binaural to array processing methods

A survey on sound source localization in robotics: From binaural to array processing methods

Lightweight multi-DOA tracking of mobile speech sources

Coordination mechanism for integrated design of Human-Robot Interaction scenarios

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