公开(公告)号：US20060075422A1

公开(公告)日：2006-04-06

申请号：US10998984

申请日：2004-11-30

申请人： Changkyu Choi ,  Hyoung-Ki Lee ,  Sang Yoon ,  Donggeon Kong

发明人： Changkyu Choi ,  Hyoung-Ki Lee ,  Sang Yoon ,  Donggeon Kong

IPC分类号： H04H9/00 ,  H04N7/16

CPC分类号： G01S3/7864

摘要： An apparatus for tracking and identifying objects includes an audio likelihood module which determines corresponding audio likelihoods for each of a plurality of sounds received from corresponding different directions, each audio likelihood indicating a likelihood a sound is an object to be tracked; a video likelihood module which receives a video and determines video likelihoods for each of a plurality of images disposed in corresponding different directions in the video, each video likelihood indicating a likelihood that the image is an object to be tracked; and an identification and tracking module which determines correspondences between the audio likelihoods and the video likelihoods, if a correspondence is determined to exist between one of the audio likelihoods and one of the video likelihoods, identifies and tracks a corresponding one of the objects using each determined pair of audio and video likelihoods.

公开(公告)号：US07536029B2

公开(公告)日：2009-05-19

申请号：US10998984

申请日：2004-11-30

申请人： Changkyu Choi ,  Hyoung-ki Lee ,  Sang Min Yoon ,  Donggeon Kong

发明人： Changkyu Choi ,  Hyoung-ki Lee ,  Sang Min Yoon ,  Donggeon Kong

IPC分类号： G06K9/00 ,  G06K9/46 ,  H04N7/14

CPC分类号： G01S3/7864

摘要： An apparatus for tracking and identifying objects includes an audio likelihood module which determines corresponding audio likelihoods for each of a plurality of sounds received from corresponding different directions, each audio likelihood indicating a likelihood a sound is an object to be tracked; a video likelihood module which receives a video and determines video likelihoods for each of a plurality of images disposed in corresponding different directions in the video, each video likelihood indicating a likelihood that the image is an object to be tracked; and an identification and tracking module which determines correspondences between the audio likelihoods and the video likelihoods, if a correspondence is determined to exist between one of the audio likelihoods and one of the video likelihoods, identifies and tracks a corresponding one of the objects using each determined pair of audio and video likelihoods.

摘要翻译： 用于跟踪和识别对象的装置包括音频似然模块，其为从相应的不同方向接收的多个声音中的每一个确定相应的音频可能性，每个音频似然性指示声音是要跟踪的对象的可能性; 视频可能性模块，其接收视频并确定视频中相应不同方向上布置的多个图像中的每一个的视频似然性，每个视频似然性指示图像是要被跟踪的对象的可能性; 以及识别和跟踪模块，其确定音频似然性和视频似然性之间的对应关系，如果确定存在于音频似然性之一和视频似然性中的一者之间的对应关系，则使用每个确定的 一对音频和视频可能性。

公开(公告)号：US20060167588A1

公开(公告)日：2006-07-27

申请号：US11208849

申请日：2005-08-23

申请人： Donggeon Kong ,  Changkyu Choi

发明人： Donggeon Kong ,  Changkyu Choi

IPC分类号： G06F19/00

CPC分类号： G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0214

摘要： An apparatus and method of controlling a mobile body that travels around a sound source which generates a sound. This apparatus includes a traveling information producer for producing traveling information, which is information about traveling of the mobile body; a direction estimator for estimating a direction in which the mobile body is located with respect to the sound source; and a position determiner for determining a position of the mobile body using the traveling information and the estimated direction of the mobile body.

公开(公告)号：US08255209B2

公开(公告)日：2012-08-28

申请号：US11188707

申请日：2005-07-26

申请人： Donggeon Kong ,  Changkyu Choi ,  Kiyoung Park

发明人： Donggeon Kong ,  Changkyu Choi ,  Kiyoung Park

IPC分类号： G10L21/02 ,  G10L15/00 ,  H04R3/00

CPC分类号： G10L21/0208 ,  G10L15/20 ,  G10L2021/02168

摘要： A noise elimination method and apparatus. The method eliminates noise from an input signal containing a voice signal mixed with a noise signal. The method includes detecting a noise section, in which the noise signal is present, from the input signal; obtaining a weight to be used for the input signal from signals of the noise section; and filtering the input signal using the obtained weight. The method and apparatus enable a mobile robot to eliminate noise in real time and effectively detect and recognize voice.

摘要翻译： 噪声消除方法和装置。 该方法从包含与噪声信号混合的语音信号的输入信号中消除噪声。 该方法包括从输入信号中检测其中存在噪声信号的噪声区间; 从噪声部分的信号获得用于输入信号的权重; 并使用所获得的权重对输入信号进行滤波。 该方法和装置使移动机器人实时消除噪声，有效地检测和识别语音。

公开(公告)号：US07561942B2

公开(公告)日：2009-07-14

申请号：US11208849

申请日：2005-08-23

申请人： Donggeon Kong ,  Changkyu Choi

发明人： Donggeon Kong ,  Changkyu Choi

IPC分类号： G06F19/00

CPC分类号： G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0214

摘要： An apparatus and method of controlling a mobile body that travels around a sound source which generates a sound. This apparatus includes a traveling information producer for producing traveling information, which is information about traveling of the mobile body; a direction estimator for estimating a direction in which the mobile body is located with respect to the sound source; and a position determiner for determining a position of the mobile body using the traveling information and the estimated direction of the mobile body.

摘要翻译： 一种控制生成声音的声源周围移动的移动体的装置和方法。 该装置包括：作为关于移动体的行进的信息的行驶信息的行驶信息生成部， 方向估计器，用于估计移动体相对于声源的位置的方向; 以及位置确定器，用于使用所述行进信息和所述移动体的估计方向来确定所述移动体的位置。

公开(公告)号：US07835908B2

公开(公告)日：2010-11-16

申请号：US10962516

申请日：2004-10-13

申请人： Changkyu Choi ,  Donggeon Kong ,  Bonyoung Lee ,  Sookwon Rang

发明人： Changkyu Choi ,  Donggeon Kong ,  Bonyoung Lee ,  Sookwon Rang

IPC分类号： G10L15/20

CPC分类号： G03B29/00 ,  G01S3/8006 ,  G03B15/00 ,  G06K9/0057

摘要： A method and apparatus for robust speaker localization and a camera control system employing the same are provided. The apparatus for speaker localization includes: a difference spectrum obtaining section which obtains a difference spectrum of a first pseudo-power spectrum for a speech section and a second pseudo-power spectrum for a non-speech section detected in a voice signal output from a microphone array; and a speaker direction estimation section which detects a peak value in any one of the difference spectrum and the first pseudo-power spectrum, and estimates the direction of a speaker based on the direction angle corresponding to the detected peak value.

摘要翻译： 提供了一种用于强大的扬声器定位的方法和装置以及采用该方法和装置的照相机控制系统。 用于扬声器定位的装置包括：差分频谱获取部分，其获得用于语音部分的第一伪功率谱的差分频谱和在从麦克风输出的语音信号中检测到的非语音部分的第二伪功率谱 阵列 以及扬声器方向估计部分，其检测差分频谱和第一伪功率谱中的任何一个中的峰值，并且基于与检测到的峰值对应的方向角度来估计扬声器的方向。

公开(公告)号：US07443989B2

公开(公告)日：2008-10-28

申请号：US10757994

申请日：2004-01-16

申请人： Changkyu Choi ,  Jaywoo Kim ,  Donggeon Kong

发明人： Changkyu Choi ,  Jaywoo Kim ,  Donggeon Kong

IPC分类号： H04R1/02

CPC分类号： G10L21/0208 ,  G10L2021/02166 ,  H04R3/005

摘要： An adaptive beamforming apparatus and method includes a fixed beamformer that compensates for time delays of M noise-containing speech signals input via a microphone array having M microphones (M is an integer greater than or equal to 2), and generates a sum signal of the M compensated noise-containing speech signals; and a multi-channel signal separator that extracts pure noise components from the M compensated noise-containing speech signals using M adaptive blocking filters that are connected to M adaptive canceling filters in a feedback structure and extracts pure speech components from the added signal using the M adaptive canceling filters that are connected to the M adaptive blocking filters in the feedback structure.

摘要翻译： 自适应波束形成装置和方法包括：固定波束形成器，其补偿经由具有M个麦克风的麦克风阵列输入的含M噪声的语音信号的时间延迟（M是大于或等于2的整数），并产生 M补偿含噪声语音信号; 以及多通道信号分离器，其使用M个自适应阻塞滤波器从M个经补偿的包含噪声的语音信号中提取纯噪声分量，该自适应阻塞滤波器以反馈结构连接到M个自适应消除滤波器，并且使用M 在反馈结构中连接到M个自适应阻塞滤波器的自适应抵消滤波器。

公开(公告)号：US20060106601A1

公开(公告)日：2006-05-18

申请号：US11188707

申请日：2005-07-26

申请人： Donggeon Kong ,  Changkyu Choi ,  Kiyoung Park

发明人： Donggeon Kong ,  Changkyu Choi ,  Kiyoung Park

IPC分类号： G10L21/02

CPC分类号： G10L21/0208 ,  G10L15/20 ,  G10L2021/02168

摘要： A noise elimination method and apparatus. The method eliminates noise from an input signal containing a voice signal mixed with a noise signal. The method includes detecting a noise section, in which the noise signal is present, from the input signal; obtaining a weight to be used for the input signal from signals of the noise section; and filtering the input signal using the obtained weight. The method and apparatus enable a mobile robot to eliminate noise in real time and effectively detect and recognize voice.

摘要翻译： 噪声消除方法和装置。 该方法从包含与噪声信号混合的语音信号的输入信号中消除噪声。 该方法包括从输入信号中检测其中存在噪声信号的噪声区间; 从噪声部分的信号获得用于输入信号的权重; 并使用所获得的权重对输入信号进行滤波。 该方法和装置使移动机器人实时消除噪声，有效地检测和识别语音。

公开(公告)号：US20050080619A1

公开(公告)日：2005-04-14

申请号：US10962516

申请日：2004-10-13

申请人： Changkyu Choi ,  Donggeon Kong ,  Bonyoung Lee ,  Sookwon Rang

发明人： Changkyu Choi ,  Donggeon Kong ,  Bonyoung Lee ,  Sookwon Rang

IPC分类号： H04N5/232 ,  G01S3/80 ,  G03B15/00 ,  G03B29/00 ,  G06K9/00 ,  G10L25/93 ,  G10L11/06

CPC分类号： G03B29/00 ,  G01S3/8006 ,  G03B15/00 ,  G06K9/0057

摘要： A method and apparatus for robust speaker localization and a camera control system employing the same are provided. The apparatus for speaker localization includes: a difference spectrum obtaining section which obtains a difference spectrum of a first pseudo-power spectrum for a speech section and a second pseudo-power spectrum for a non-speech section detected in a voice signal output from a microphone array; and a speaker direction estimation section which detects a peak value in any one of the difference spectrum and the first pseudo-power spectrum, and estimates the direction of a speaker based on the direction angle corresponding to the detected peak value.

摘要翻译： 提供了一种用于强大的扬声器定位的方法和装置以及采用该方法和装置的照相机控制系统。 用于扬声器定位的装置包括：差分频谱获取部分，其获得用于语音部分的第一伪功率谱的差分频谱和在从麦克风输出的语音信号中检测到的非语音部分的第二伪功率谱 阵列 以及扬声器方向估计部分，其检测差分频谱和第一伪功率谱中的任何一个中的峰值，并且基于与检测到的峰值对应的方向角度来估计扬声器的方向。

公开(公告)号：US20060039587A1

公开(公告)日：2006-02-23

申请号：US11207713

申请日：2005-08-22

申请人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

发明人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

IPC分类号： G06K9/00

CPC分类号： G06K9/00234

摘要： A person tracking method and apparatus using a robot. The person tracking method includes: detecting a person in a first window of a current input image using a skin color of the person; and setting a plurality of second windows in a next input image, correlating the first window and the second windows and tracking the detected person in the next input image using the correlated results.

摘要翻译： 使用机器人的人追踪方法和装置。 所述人物跟踪方法包括：使用所述人的肤色来检测当前输入图像的第一窗口中的人; 以及在下一个输入图像中设置多个第二窗口，使所述第一窗口和所述第二窗口相关联，并且使用所述相关结果跟踪所述下一个输入图像中检测到的人物。