Spoken command of large mobile robots in outdoor environments
Name
Teller_Spoken command.pdf
Size
1.08 MB
Format
Adobe PDF
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Author(s)
Chuangsuwanich, Ekapol
Cyphers, David Scott
Glass, James R.
Teller, Seth
Date Issued
December 2010
Journal
IEEE Spoken Language Technology Workshop 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Chuangsuwanich, E. et al. “Spoken command of large mobile robots in outdoor environments.” Spoken Language Technology Workshop (SLT), 2010 IEEE. 2010. 306-311. Copyright © 2010, IEEE
Version
Author's final manuscript
Abstract
We describe a speech system for commanding robots in human-occupied outdoor military supply depots. To operate in such environments, the robots must be as easy to interact with as are humans, i.e. they must reliably understand ordinary spoken instructions, such as orders to move supplies, as well as commands and warnings, spoken or shouted from distances of tens of meters. These design goals preclude close-talking microphones and “push-to-talk” buttons that are typically used to isolate commands from the sounds of vehicles, machinery and non-relevant speech. We used multiple microphones to provide omnidirectional coverage. A novel voice activity detector was developed to detect speech and select the appropriate microphone to listen to. Finally, we developed a recognizer model that could successfully recognize commands when heard amidst other speech within a noisy environment. When evaluated on speech data in the field, this system performed significantly better than a more computationally intensive baseline system, reducing the effective false alarm rate by a factor of 40, while maintaining the same level of precision.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/SLT.2010.5700869
