MIMO noise suppression preserving spatial cues for sound source localization in mobile robot

Jung Hee Kim, Jeonghwan Choi, Jinyoung Son, Gyeong Su Kim, Jihwan Park, Joon Hyuk Chang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a multi-input multi-output (MIMO) noise suppression (NS) algorithm for sound source localization (SSL) is proposed in mobile robot environment. Especially for the mobile robot, some ego noise (e.g., motor noise) is naturally generated and it becomes a dominant signal at microphone array, which seriously damages the performance of the SSL. Therefore, the proposed MIMO NS algorithm is designed not only to suppress the noise but also to preserve spatial information of sound sources. To this end, the recent MIMO time-domain audio separation network (TasNet) with preserving spatial cues for binaural source separation is extended to tetrahedral microphone array in the proposed MIMO NS algorithm. Furthermore, weighted phase error (WPE) between inter-channels is additionally employed in the loss function, which can improve the performance especially in preserving inter-channel time difference (ITD). The performance of the proposed approach is verified within the context of the robot vacuum cleaner, which shows from simulations and real experiments that the proposed approach can preserve the spatial information as well as remove the vacuum noise.

Original languageEnglish
Title of host publication2021 IEEE International Symposium on Circuits and Systems, ISCAS 2021 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728192017
DOIs
StatePublished - 2021
Event53rd IEEE International Symposium on Circuits and Systems, ISCAS 2021 - Daegu, Korea, Republic of
Duration: 2021 May 222021 May 28

Publication series

NameProceedings - IEEE International Symposium on Circuits and Systems
Volume2021-May
ISSN (Print)0271-4310

Conference

Conference53rd IEEE International Symposium on Circuits and Systems, ISCAS 2021
Country/TerritoryKorea, Republic of
CityDaegu
Period21/05/2221/05/28

Keywords

  • MIMO noise suppression
  • Sound source localization
  • Spatial cue

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