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31. 发明授权

US08831237B2 Sound source separation apparatus and sound source separation method 有权
公开(公告)号：US08831237B2
公开(公告)日：2014-09-09
申请号：US13211002
申请日：2011-08-16
申请人： Kazuhiro Nakadai , Hirofumi Nakajima
发明人： Kazuhiro Nakadai , Hirofumi Nakajima
IPC分类号： H04B3/20 , G10L21/028 , G10L21/0216
摘要： A sound source separation apparatus includes a transfer function storage unit that stores a transfer function from a sound source, a sound change detection unit that generates change state information indicating a change of the sound source on the basis of an input signal input from a sound input unit, a parameter selection unit that calculates an initial separation matrix on the basis of the change state information generated by the sound change detection unit, and a sound source separation unit that separates the sound source from the input signal input from the sound input unit using the initial separation matrix calculated by the parameter selection unit.

32. 发明授权

US08995671B2 Sound processing device, sound processing method, and sound processing program 有权
标题翻译：声音处理装置，声音处理方法和声音处理程序
公开(公告)号：US08995671B2
公开(公告)日：2015-03-31
申请号：US13543125
申请日：2012-07-06
申请人： Kazuhiro Nakadai , Ince Gokhan
发明人： Kazuhiro Nakadai , Ince Gokhan
IPC分类号： H04R29/00 , H04R3/00 , G10L21/0208
CPC分类号： H04R3/00 , G10L21/0208
摘要： A sound processing device includes a storage unit configured to store first operation data corresponding to a motion of a mechanical apparatus and a first sound feature value corresponding to the motion in correlation with each other, a noise estimating unit configured to estimate a third sound feature value corresponding to a noise component based on a second sound feature value corresponding to an acquired sound signal, a sound feature value processing unit configured to calculate a target sound feature value from which the noise component is removed based on the second sound feature value and the third sound feature value, and an updating unit that updates the first sound feature value stored in the storage unit based on detected second operation data and the third sound feature value estimated by the noise estimating unit.
摘要翻译：声音处理装置包括：存储单元，被配置为存储对应于机械装置的运动的第一操作数据和相应于运动的第一声音特征值;噪声估计单元，被配置为估计第三声音特征值对应于基于与所获取的声音信号相对应的第二声音特征值的噪声分量;声音特征值处理单元，被配置为基于所述第二声音特征值计算从其去除噪声分量的目标声音特征值，并且所述第三声音特征值声音特征值，以及更新单元，其基于检测到的第二操作数据和由噪声估计单元估计的第三声音特征值来更新存储在存储单元中的第一声音特征值。

33. 发明授权

US07016505B1 Robot acoustic device 有权
标题翻译：机器人声学装置
公开(公告)号：US07016505B1
公开(公告)日：2006-03-21
申请号：US10130295
申请日：2000-11-01
申请人： Kazuhiro Nakadai , Hiroshi Okuno , Hiroaki Kitano
发明人： Kazuhiro Nakadai , Hiroshi Okuno , Hiroaki Kitano
IPC分类号： A61F11/06 , G10K11/16 , H03B29/00
CPC分类号： B25J19/026 , G10L15/20 , G10L21/0216 , G10L2021/02165
摘要： The invention is directed to an auditory robot for a human or animal like robot, e.g., a human like robot (10) having a noise generating source such as a driving system in its interior. The apparatus includes a sound insulating cover (14) with which at least a head part (13) of the robot is covered; a pair of outer microphones (16; 16a and 16b) installed outside of the cover and located at a pair of positions where a pair of ears may be provided spaced apart for the robot, respectively, for collecting an external sound primarily; at least one inner microphone (17; 17a and 17b) installed inside of the cover for primarily collecting a noise from the noise generating source in the robot interior; and a processing module (18) on the basis of signals from the outer and inner microphones for removing from sound signals from the outer microphones (16a and 16b), a noise signal from the internal noise generating source. Thus, the robot auditory apparatus of the invention is made capable of effecting active perception by permitting an external sound from a target to be collected unaffected by a noise in the inside of the robot such as from the driving system.
摘要翻译：本发明涉及用于人或动物如机器人的听觉机器人，例如具有诸如其内部的驱动系统的噪声产生源的人类似的机器人（10）。所述装置包括隔音盖（14），所述机器人的至少头部（13）与所述绝缘罩（14）相覆盖; 一对外部麦克风（16; 16a和16b），其安装在所述盖子的外部并且分别位于一对位置处，所述一对耳朵可分别设置用于所述机器人，用于主要收集外部声音; 安装在所述盖内部的至少一个内部麦克风（17; 17a和17b），用于主要收集来自所述机器人内部的噪声发生源的噪声; 以及基于来自外麦克风和内麦克风的信号的处理模块（18），用于从外麦克风（16a和16b）的声音信号中去除来自内部噪声产生源的噪声信号。因此，本发明的机器人听觉装置能够通过允许来自目标的外部声音被收集而不受来自诸如驱动系统的机器人内部的噪声的影响而影响主动感知。

34. 发明授权

US08889976B2 Musical score position estimating device, musical score position estimating method, and musical score position estimating robot 有权
标题翻译：音乐得分位置估计装置，乐谱位置估计方法和乐谱位置估计机器人
公开(公告)号：US08889976B2
公开(公告)日：2014-11-18
申请号：US12851994
申请日：2010-08-06
申请人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Takuma Otsuka , Hiroshi Okuno
IPC分类号： G04B13/00 , G10H1/36 , G10L25/90
CPC分类号： G10H1/361 , G10H2210/066 , G10H2210/076 , G10H2250/235 , G10L25/90
摘要： A musical score position estimating device includes an audio signal acquiring unit, a musical score information acquiring unit acquiring musical score information corresponding to an audio signal acquired by the audio signal acquiring unit, an audio signal feature extracting unit extracting a feature amount of the audio signal, a musical score feature extracting unit extracting a feature amount of the musical score information, a beat position estimating unit estimating a beat position of the audio signal, and a matching unit matching the feature amount of the audio signal with the feature amount of the musical score information using the estimated beat position to estimate a position of a portion in the musical score information corresponding to the audio signal.
摘要翻译：音乐分数位置估计装置包括：音频信号获取单元，乐谱信息获取单元，获取与由音频信号获取单元获取的音频信号相对应的乐谱信息，提取音频信号的特征量的音频信号特征提取单元提取乐谱特征量的乐谱特征提取单元，估计音频信号的拍子位置的拍子位置估计单元以及与音频信号的特征量相匹配的匹配单元与音乐的特征量使用估计的拍子位置来评估信息，以估计与音频信号相对应的乐谱信息中的一部分的位置。

35. 发明申请

US20100082340A1 SPEECH RECOGNITION SYSTEM AND METHOD FOR GENERATING A MASK OF THE SYSTEM 有权
标题翻译：语音识别系统及其系统生成方法
公开(公告)号：US20100082340A1
公开(公告)日：2010-04-01
申请号：US12543759
申请日：2009-08-19
申请人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
IPC分类号： G10L15/20 , G10L15/00
CPC分类号： G10L15/20 , G10L21/0272
摘要： The speech recognition system of the present invention includes: a sound source separating section which separates mixed speeches from multiple sound sources; a mask generating section which generates a soft mask which can take continuous values between 0 and 1 for each separated speech according to reliability of separation in separating operation of the sound source separating section; and a speech recognizing section which recognizes speeches separated by the sound source separating section using soft masks generated by the mask generating section.
摘要翻译：本发明的语音识别系统包括：声源分离部分，用于将多个声源的混合语音分离; 掩模生成部，根据所述声源分离部的分离动作的分离的可靠性，生成能够对每个分离的语音取0〜1的连续值的软掩模; 以及语音识别部，其使用由所述掩模生成部生成的软掩模来识别由所述声源分离部分隔开的语音。

36. 发明授权

US06967455B2 Robot audiovisual system 失效
标题翻译：机器人视听系统
公开(公告)号：US06967455B2
公开(公告)日：2005-11-22
申请号：US10468396
申请日：2002-03-08
申请人： Kazuhiro Nakadai , Ken-ichi Hidai , Hiroshi Okuno , Hiroaki Kitano
发明人： Kazuhiro Nakadai , Ken-ichi Hidai , Hiroshi Okuno , Hiroaki Kitano
IPC分类号： B25J13/00 , B25J19/02 , G06T1/00 , G10L21/0208 , B25J13/08
CPC分类号： G06T1/0014 , B25J13/00 , B25J13/003 , B25J19/023 , G10L2021/02087
摘要： A robot visuoauditory system that makes it possible to process data in real time to track vision and audition for an object, that can integrate visual and auditory information on an object to permit the object to be kept tracked without fail and that makes it possible to process the information in real time to keep tracking the object both visually and auditorily and visualize the real-time processing is disclosed. In the system, the audition module (20) in response to sound signals from microphones extracts pitches therefrom, separate their sound sources from each other and locate sound sources such as to identify a sound source as at least one speaker, thereby extracting an auditory event (28) for each object speaker. The vision module (30) on the basis of an image taken by a camera identifies by face, and locate, each such speaker, thereby extracting a visual event (39) therefor. The motor control module (40) for turning the robot horizontally. extracts a motor event (49) from a rotary position of the motor. The association module (60) for controlling these modules forms from the auditory, visual and motor control events an auditory stream (65) and a visual stream (66) and then associates these streams with each other to form an association stream (67). The attention control module (6) effects attention control designed to make a plan of the course in which to control the drive motor, e.g., upon locating the sound source for the auditory event and locating the face for the visual event, thereby determining the direction in which each speaker lies. The system also includes a display (27, 37, 48, 68) for displaying at least a portion of auditory, visual and motor information. The attention control module (64) servo-controls the robot on the basis of the association stream or streams.
摘要翻译：机器人视觉系统，使得可以实时处理数据以跟踪对象的视觉和试镜，从而可以将物体上的视觉和听觉信息整合在一起，以允许对象被保持跟踪而不会失败，这使得可以处理公开了实时的信息，以视觉和听觉方式跟踪对象，并且可视化实时处理。在系统中，响应于来自麦克风的声音信号的试听模块（20）从其中提取音高，从而将它们的声源彼此分离，并且定位声源，例如将声源识别为至少一个扬声器，从而提取听觉事件（28）。基于由照相机拍摄的图像的视觉模块（30）通过面部识别并定位每个这样的扬声器，从而提取其视觉事件（39）。用于水平地转动机器的马达控制模块（40）。从马达的旋转位置提取马达事件（49）。用于控制这些模块的关联模块（60）从听觉，视觉和运动控制事件形成听觉流（65）和视觉流（66），然后将这些流彼此关联以形成关联流（67）。注意力控制模块（6）实现设计的注意力控制，以制定控制驱动电动机的过程的计划，例如，在定位用于听觉事件的声源并定位视觉事件的面部，从而确定方向每个演讲者都在其中。该系统还包括用于显示听觉，视觉和运动信息的至少一部分的显示器（27,37,48,68）。注意力控制模块（64）基于关联流或流来对机器人进行伺服控制。

37. 发明授权

US09002024B2 Reverberation suppressing apparatus and reverberation suppressing method 有权
标题翻译：混响抑制装置和混响抑制方法
公开(公告)号：US09002024B2
公开(公告)日：2015-04-07
申请号：US13036937
申请日：2011-02-28
申请人： Kazuhiro Nakadai , Ryu Takeda , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Ryu Takeda , Hiroshi Okuno
IPC分类号： H04B3/20 , H04R3/04 , H04S7/00
CPC分类号： H04R3/04 , H04S7/305
摘要： A reverberation suppressing apparatus, includes: a sound acquiring unit which acquires a sound signal; a reverberation data computing unit which computes reverberation data from the acquired sound signal; a reverberation characteristics estimating unit which estimates reverberation characteristics based on the computed reverberation data; a filter length estimating unit which estimates a filter length of a filter which is used to suppress a reverberation based on the estimated reverberation characteristics; and a reverberation suppressing unit which suppresses the reverberation based on the estimated filter length.
摘要翻译：一种混响抑制装置，包括：声音获取单元，其获取声音信号; 混响数据计算单元，其从所获取的声音信号计算混响数据; 混响特性估计单元，其基于所计算的混响数据来估计混响特性; 滤波器长度估计单元，其基于估计的混响特性来估计用于抑制混响的滤波器的滤波器长度; 以及基于估计的滤波器长度来抑制混响的混响抑制单元。

38. 发明授权

US08577678B2 Speech recognition system and speech recognizing method 有权
标题翻译：语音识别系统和语音识别方法
公开(公告)号：US08577678B2
公开(公告)日：2013-11-05
申请号：US13044737
申请日：2011-03-10
申请人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
IPC分类号： G10L15/06 , G10L15/20 , G10L19/14 , G10L15/14 , G10L15/28 , G10L15/00
CPC分类号： G10L21/028 , G10L15/20 , G10L2021/02087 , G10L2021/02166
摘要： A speech recognition system according to the present invention includes a sound source separating section which separates mixed speeches from multiple sound sources from one another; a mask generating section which generates a soft mask which can take continuous values between 0 and 1 for each frequency spectral component of a separated speech signal using distributions of speech signal and noise against separation reliability of the separated speech signal; and a speech recognizing section which recognizes speeches separated by the sound source separating section using soft masks generated by the mask generating section.
摘要翻译：根据本发明的语音识别系统包括：声源分离部，其将来自多个声源的混合语音彼此分离; 掩模生成部，其生成软掩模，该软掩模使用语音信号和噪声的分布对分离的语音信号的分离可靠性进行分离的语音信号的每个频谱分量的0和1之间的连续值; 以及语音识别部，其使用由所述掩模生成部生成的软掩模来识别由所述声源分离部分隔开的语音。

39. 发明授权

US08392185B2 Speech recognition system and method for generating a mask of the system 有权
标题翻译：用于生成系统掩码的语音识别系统和方法
公开(公告)号：US08392185B2
公开(公告)日：2013-03-05
申请号：US12543759
申请日：2009-08-19
申请人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
IPC分类号： G10L15/20 , G10L19/14 , G10L15/06 , G10L15/26 , G10L17/00 , G10L15/14 , G10L15/28 , G10L15/00
CPC分类号： G10L15/20 , G10L21/0272
摘要： The speech recognition system of the present invention includes: a sound source separating section which separates mixed speeches from multiple sound sources; a mask generating section which generates a soft mask which can take continuous values between 0 and 1 for each separated speech according to reliability of separation in separating operation of the sound source separating section; and a speech recognizing section which recognizes speeches separated by the sound source separating section using soft masks generated by the mask generating section.
摘要翻译：本发明的语音识别系统包括：声源分离部分，用于将多个声源的混合语音分离; 掩模生成部，根据所述声源分离部的分离动作的分离的可靠性，生成能够对每个分离的语音取0〜1的连续值的软掩模; 以及语音识别部，其使用由所述掩模生成部生成的软掩模来识别由所述声源分离部分隔开的语音。

40. 发明申请

US20110224980A1 SPEECH RECOGNITION SYSTEM AND SPEECH RECOGNIZING METHOD 有权
标题翻译：语音识别系统和语音识别方法
公开(公告)号：US20110224980A1
公开(公告)日：2011-09-15
申请号：US13044737
申请日：2011-03-10
申请人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Toru Takahashi , Hiroshi Okuno
IPC分类号： G10L15/20
CPC分类号： G10L21/028 , G10L15/20 , G10L2021/02087 , G10L2021/02166
摘要： A speech recognition system according to the present invention includes a sound source separating section which separates mixed speeches from multiple sound sources from one another; a mask generating section which generates a soft mask which can take continuous values between 0 and 1 for each frequency spectral component of a separated speech signal using distributions of speech signal and noise against separation reliability of the separated speech signal; and a speech recognizing section which recognizes speeches separated by the sound source separating section using soft masks generated by the mask generating section.
摘要翻译：根据本发明的语音识别系统包括：声源分离部，其将来自多个声源的混合语音彼此分离; 掩模生成部，其生成软掩模，该软掩模使用语音信号和噪声的分布对分离的语音信号的分离可靠性进行分离的语音信号的每个频谱分量的0和1之间的连续值; 以及语音识别部，其使用由所述掩模生成部生成的软掩模来识别由所述声源分离部分隔开的语音。

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