用于人形机器人的声音降噪方法

Noise Reduction Method for Humanoid Robot

用于人形机器人的实时多通道降噪方法使机器人能够在实际应用中精确地进行后续的音频分类或语音识别。引入人形机器人具有类似人体的头相关传输函数的性质,避免一般方法中在估计声传播信道模型时只考虑声达时延,而忽略声散射和共振影响的局限性。该方法通过利用麦克风阵列阵元之间的声音传输信道的差异性,削弱参考噪声和目标信号之间的相关性,从而提升对消噪声后输出信号的信噪比。仿真表明,对目标信号的信噪比提升达到15 dB。

A real time, multichannel, humanoid robot ready noise reduction method makes practical precise audio classification and speech recognition possible. Alhough scattering of sound plays an important role on humanoid robot, most conventional methods consider time delay as the only main factor for transferring model of sound propagation channel between microphones. By using characteristics of human like Head Related Transfer Function（HRTF） system, this method avoids the limitation of lackness of scattering effect. Simulations show that this method is able to improve desired sound＇s SNR by 15 dB.