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Service Robot SCORPIO with Robust Speech Interface : Robot di servizio SCORPIO con una interfaccia linguistica robusta, in: International Journal of Advanced Robotic Systems |
Deschide documentul
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Informaţii generale |
| Autor |
Ondas, Stanislav; Juhar, Jozef; Pleva, Matus; Cizmar, Anton; Holcer, Roland |
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InTech Open Access Publisher, 2013
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| Abstract |
The SCORPIO is a small‐size mini‐teleoperator
mobile service robot for booby‐trap disposal. It can be
manually controlled by an operator through a portable
briefcase remote control device using joystick, keyboard
and buttons. In this paper, the speech interface is
described. As an auxiliary function, the remote interface
allows a human operator to concentrate sight and/or hands
on other operation activities that are more important. The
developed speech interface is based on HMM‐based
acoustic models trained using the SpeechDatE‐SK
database, a small‐vocabulary language model based on
fixed connected words, grammar, and the speech
recognition setup adapted for low‐resource devices. To
improve the robustness of the speech interface in an
outdoor environment, which is the working area of the
SCORPIO service robot, a speech enhancement based on
the spectral subtraction method, as well as a unique
combination of an iterative approach and a modified LIMA
framework, were researched, developed and tested on
simulated and real outdoor recordings. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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