| 机器人自身噪声环境下的自动语音识别 |
| 王建荣1, 张句1, 路文焕2, 魏建国2, 党建武1 |
| 1. 天津大学 计算机科学与技术学院, 天津 300072; 2. 天津大学 软件学院, 天津 300072 |
| Automatic speech recognition with robot noise |
| WANG Jianrong1, ZHANG Ju1, LU Wenhuan2, WEI Jianguo2, DANG Jianwu1 |
| 1. School of Computer Science and Technology, Tianjin University, Tianjin 300072, China; 2. School of Computer Software, Tianjin University, Tianjin 300072, China |
摘要:
| 摘要当机器人移动身体任何部位时，都会不可避免地产生自身噪声。这些自身噪声由身体关节或其他硬件设备如风扇等引起。由于自身噪声距离机器人麦克风较近，较目标声源更容易被获取。该文根据机器人自身噪声种类，提出了一种将谱减法、关节噪声模板减法、基于标注区域的倒谱均值减法以及多条件训练相结合的方法，从而估计和抑制自身噪声。一系列实验证明了所提出的方法可以有效地减少自身噪声影响，提高语音识别的鲁棒性。 | |
| 关键词 ：机器人,语音识别,语音增强 | |
| Abstract：Robots inevitably produce noise when they are moving any part of their body. Such noise is caused by the various body joint motors as well as the CPU cooling fans. Moreover, these noises are easily captured by the robots' microphones because they are closer to the microphones than the target speech source. This paper presents a de-noising method using the spectral subtraction, joint noise template substraction, labeled area cepstral mean substraction and multi-condition training to estimate and suppress robot noise. Tests show that this method significantly reduces the effect of robot noise which enhances the automatic speech recognition. | |
| Key words：robotspeech recognitionspeech enhancement | |
| 收稿日期: 2016-06-20 出版日期: 2017-02-21 | |
| 通讯作者:路文焕,副教授,E-mail:wenhuan@tju.edu.cnE-mail: wenhuan@tju.edu.cn | |
| 引用本文: |
| 王建荣, 张句, 路文焕, 魏建国, 党建武. 机器人自身噪声环境下的自动语音识别[J]. 清华大学学报（自然科学版）, 2017, 57(2): 153-157. WANG Jianrong, ZHANG Ju, LU Wenhuan, WEI Jianguo, DANG Jianwu. Automatic speech recognition with robot noise. Journal of Tsinghua University(Science and Technology), 2017, 57(2): 153-157. |
| 链接本文: |
| http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2017.22.007或 http://jst.tsinghuajournals.com/CN/Y2017/V57/I2/153 |
图表:
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| 图1 机器人自身噪声环境下的语音样本 |
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| 图2 处在不同幅度下的CPU散热风扇噪声 |
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| 图3 AldebaranRobotics的NAO机器人 |
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| 表1 不同技术以及技术组合方法在不同自身噪声下的语音识别结果(距离120cm) |
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| 图4 谱减法处理风扇噪声的前后对比 |
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| 图5 关节噪声模板减法处理前后的对比 |
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| 图6 基于标注区域倒谱均值减法与全局倒谱均值减法的对比 |
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