Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers

Acoustic scene mapping creates a representation of positions of audio sources such as talkers within the surrounding environment of a microphone array. By allowing the array to move, the acoustic scene can be explored in order to improve the map. Furthermore, the spatial diversity of the kinematic array allows for estimation of the source-sensor distance in scenarios where source directions of arrival are measured. As sound source localization is performed relative to the array position, mapping of acoustic sources requires knowledge of the absolute position of the microphone array in the room. If the array is moving, its absolute position is unknown in practice. Hence, Simultaneous Localization and Mapping (SLAM) is required in order to localize the microphone array position and map the surrounding sound sources. In realistic environments, microphone arrays receive a convolutive mixture of direct-path speech signals, noise and reflections due to reverberation. A key challenge of Acoustic SLAM (a-SLAM) is robustness against reverberant clutter measurements and missing source detections. This paper proposes a novel bearing-only a-SLAM approach using a Single-Cluster Probability Hypothesis Density filter. Results demonstrate convergence to accurate estimates of the array trajectory and source positions

Spherical microphone array acoustic rake receivers

Several signal independent acoustic rake receivers are proposed for speech dereverberation using spherical microphone arrays. The proposed rake designs take advantage of multipaths, by separately capturing and combining early reflections with the direct path. We investigate several approaches in combining reflections with the direct path source signal, including the development of beam patterns that point nulls at all preceding reflections. The proposed designs are tested in experimental simulations and their dereverberation performances evaluated using objective measures. For the tested configuration, the proposed designs achieve higher levels of dereverberation compared to conventional signal independent beamforming systems; achieving up to 3.6 dB improvement in the direct-to-reverberant ratio over the plane-wave decomposition beamformer

Bearing-only acoustic tracking of moving speakers for robot audition

This paper focuses on speaker tracking in robot audition for human-robot interaction. Using only acoustic signals, speaker tracking in enclosed spaces is subject to missing detections and spurious clutter measurements due to speech inactivity, reverberation and interference. Furthermore, many acoustic localization approaches estimate speaker direction, hence providing bearing-only measurements without range information. This paper presents a probability hypothesis density (PHD) tracker that augments the bearing-only speaker directions of arrival with a cloud of range hypotheses at speaker initiation and propagates the random variates through time. Furthermore, due to their formulation PHD filters explicitly model, and hence provide robustness against, clutter and missing detections. The approach is verified using experimental results

Linear prediction based dereverberation for spherical microphone arrays

Dereverberation is an important preprocessing step in many speech systems, both for human and machine listening. In many situations, including robot audition, the sound sources of interest can be incident from any direction. In such circumstances, a spherical microphone array allows direction of arrival estimation which is free of spatial aliasing and directionindependent beam patterns can be formed. This contribution formulates the Weighted Prediction Error algorithm in the spherical harmonic domain and compares the performance to a space domain implementation. Simulation results demonstrate that performing dereverberation in the spherical harmonic domain allows many more microphones to be used without increasing the computational cost. The benefit of using many microphones is particularly apparent at low signal to noise ratios, where for the conditions tested up to 71% improvement in speech-to-reverberation modulation ratio was achieved

Room geometry estimation from a single channel acoustic impulse response

For a 2D rectangular room of unknown dimensions and with unknown source and microphone positions, the times of arrival of reflections can be described in terms of im-age source positions. Adopting a microphone-centred co-ordinates system, it is shown that to satisfy certain combi-nations of arrival times imposes constraints on the possible room geometry: a second-order reflection from adjacent walls determines the source-microphone distance; a second-order reflection from opposite walls in a given dimension determines the source displacement in that dimension as a function of the source-receiver distance. Given a subset of time differences of arrival, the extent to which the geometry can be determined is related to these constraints. The geome-try estimation is further posed as a least squares optimisation problem whose results verify the analytical results. Index Terms — geometry estimation, acoustic impulse response, time of arrival, TOA, room identification 1

Multichannel equalisation for high-order spherical microphone arrays using beamformed channels

High-order spherical microphone arrays offer many practical benefits including relatively fine spatial resolution in all directions and rotation invariant processing using eigenbeams. Spatial filtering can reduce interference from noise and reverberation but in even moderately reverberant environments the beam pattern fails to suppress reverberation to a level adequate for typical applications. In this paper we investigate the feasibility of applying dereverberation by considering multiple beamformer outputs as channels to be dereverberated. In one realisation we process directly in the spherical harmonic domain where the beampatterns are mutually orthogonal. In a second realisation, which is not limited to spherical microphone arrays, beams are pointed in the direction of dominant reflections. Simulations demonstrate that in both cases reverberation is significantly reduced and, in the best case, clarity index is improved by 15 dB

Direction of Arrival Estimation in the Spherical Harmonic Domain using Subspace Pseudo-Intensity Vectors

Direction of Arrival (DOA) estimation is a fundamental problem in acoustic signal processing. It is used in a diverse range of applications, including spatial filtering, speech dereverberation, source separation and diarization. Intensity vector-based DOA estimation is attractive, especially for spherical sensor arrays, because it is computationally efficient. Two such methods are presented which operate on a spherical harmonic decomposition of a sound field observed using a spherical microphone array. The first uses Pseudo-Intensity Vectors (PIVs) and works well in acoustic environments where only one sound source is active at any time. The second uses Subspace Pseudo-Intensity Vectors (SSPIVs) and is targeted at environments where multiple simultaneous sources and significant levels of reverberation make the problem more challenging. Analytical models are used to quantify the effects of an interfering source, diffuse noise and sensor noise on PIVs and SSPIVs. The accuracy of DOA estimation using PIVs and SSPIVs is compared against the state-of-the-art in simulations including realistic reverberation and noise for single and multiple, stationary and moving sources. Finally, robust performance of the proposed methods is demonstrated using speech recordings in real acoustic environments

Speech enhancement for robust automatic speech recognition: Evaluation using a baseline system and instrumental measures

Automatic speech recognition in everyday environments must be robust to significant levels of reverberation and noise. One strategy to achieve such robustness is multi-microphone speech enhancement. In this study, we present results of an evaluation of different speech enhancement pipelines using a state-of-the-art ASR system for a wide range of reverberation and noise conditions. The evaluation exploits the recently released ACE Challenge database which includes measured multichannel acoustic impulse responses from 7 different rooms with reverberation times ranging from 0.33 s to 1.34 s. The reverberant speech is mixed with ambient, fan and babble noise recordings made with the same microphone setups in each of the rooms. In the first experiment performance of the ASR without speech processing is evaluated. Results clearly indicate the deleterious effect of both noise and reverberation. In the second experiment, different speech enhancement pipelines are evaluated with relative word error rate reductions of up to 82%. Finally, the ability of selected instrumental metrics to predict ASR performance improvement is assessed. The best performing metric, Short-Time Objective Intelligibility Measure, is shown to have a Pearson correlation coefficient of 0.79, suggesting that it is a useful predictor of algorithm performance in these tests

Augmented Intensity Vectors for Direction of Arrival Estimation in the Spherical Harmonic Domain

Pseudointensity vectors (PIVs) provide a means of direction of arrival (DOA) estimation for spherical microphone arrays using only the zeroth and the first-order spherical harmonics. An augmented intensity vector (AIV) is proposed which improves the accuracy of PIVs by exploiting higher order spherical harmonics. We compared DOA estimation using our proposed AIVs against PIVs, steered response power (SRP) and subspace methods where the number of sources, their angular separation, the reverberation time of the room and the sensor noise level are varied. The results show that the proposed approach outperforms the baseline methods and performs at least as accurately as the state-of-the-art method with strong robustness to reverberation, sensor noise, and number of sources. In the single and multiple source scenarios tested, which include realistic levels of reverberation and noise, the proposed method had average error of 1.5∘ and 2∘, respectively