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Gökhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-ichi Imura , "Robust Ego Noise Suppression of a Robot", 2010.
AbstractThis paper describes an architecture that can enhance a robot with the capability of performing automatic speech recognition even while the robot is moving. The system consists of three blocks: (1) a multi-channel noise reduction block comprising consequent stages of microphone-array-based sound localization, geometric source separa- tion and post filtering, (2) a single-channel template subtraction block and (3) a speech recognition block. In th...
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Raphael Golombek, Sebastian Wrede, Marc Hanheide, Martin Ernst Heckmann , "A Method for learning a Fault Detection Model from Component Communication Data in Robotic Systems", Proc. 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments, 2010.
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Daniel Dornbusch, Robert Haschke, Stefan Menzel, Heiko Wersing , "Finding Correlations in Multimodal Data Using Decomposition Approaches", European Symposium on Artificial Neural Networks (ESANN), pp. 253 – 258, 2010.
AbstractIn this paper, we propose the application of standard decomposition approaches to find local correlations in multimodal data. In a test scenario, we apply these methods to correlate the local shape of turbine blades with their associated aerodynamic flow fields. We compare several decomposition algorithms, i.e., k-Means, Principal Component Analysis, Non-negative Matrix Factorization and Non-Negative Sparse Coding, with regards to their efficienc...
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Vitali Anselm , "Receding Horizon Control for Anticipatory Movement Generation of a Robot Arm", Technical University of Dortmund, Chair for Control and Systems Engineering, 2010.
AbstractThe focus of this diploma thesis is set on the trajectory adaptation for robots with regard to dynamical changing situations. The existing system, which generates the movements of the robot by a batch-approach with sequential flow, is improved in such way that it becomes a system with a reactive behaviour. This work deploys the concepts of a predictive control, namely of the Receding Horizon Control (RHC). Thereby, a prediction horizon and optimi...
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Cem Karaoguz, Andrew Dankers, Tobias Rodemann, Mark Dunn , "An Analysis of Depth Estimation within Interaction Range", IEEE-RSJ International Conference on Intelligent Robot and Systems (IROS 2010), 2010.
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Christian Lang, Sven Wachsmuth, Heiko Wersing, Marc Hanheide , "Facial expressions as feedback cue in human-robot interaction - a comparison of human and automatic recognition performances", CVPR Workshop for Human Communicative Behavior Analysis, 2010.
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Claudius Gläser, Martin Ernst Heckmann, Frank Joublin, Christian Goerick , "Combining Auditory Preprocessing and Bayesian Estimation for Robust Formant Tracking", IEEE Transactions on Audio, Speech, and Language Processing, vol. 18, no. 2, pp. 224–236, 2010.
AbstractWe present a framework for estimating formant trajectories. Its focus is to achieve high robustness in noisy environments. Our approach combines a preprocessing based on functional principles of the human auditory system and a probabilistic tracking scheme. For enhancing the formant structure in spectrograms we use a Gammatone filterbank, a spectral preemphasis, as well as a spectral filtering using Difference-of-Gaussians (DoG) operators. Finall...
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Nils Einecke and Julian Eggert , "A Two-Stage Correlation Method for Stereoscopic Depth Estimation", Proceedings of the International Conference on Digital Image Computing: Techniques and Applications, DICTA 2010, 2010.
AbstractThe computation of stereoscopic depth is an important field of computer vision. Although a large variety of algorithms has been developed, the traditional correlation-based versions of these algorithms are prevalent. This is mainly due to easy implementation and handling but also to the linear computational complexity, as compared to more elaborated algorithms based on diffusion processes, graph-cut or bilateral filtering. In this paper, we intro...
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Andreas Knoblauch, Günther Palm, Friedrich Sommer , "Memory capacities for synaptic and structural plasticity.", Neural Computation, vol. 22, no. 2, pp. 289–341, 2010.
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Gökhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Yuji Hasegawa, Hiroshi Tsujino, Jun-ichi Imura , "A Hybrid Framework for Ego Noise Cancellation of a Robot", 2010.
AbstractNoise generated due to the motion of a robot is not desired, because it deteriorates the quality and intelligibility of the sounds recorded by robot-embedded microphones. It must be reduced or cancelled to achieve automatic speech recognition with a high performance. In this work, we divide ego-motion noise problem into three subdomains of arm, leg and head motion noise, depending on their complexity and intensity levels. We investigate methods t...
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