ランク1空間モデル制約付き多チャネルNMFを用いた柔軟索状ロボットにおける雑音抑圧

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  • Noise reduction for a hose-shaped rescue robot using rank-1 multichannel NMF

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<p>A hose-shaped rescue robot is one of the robots that are developed for disaster response in case of a large-scale disasters such as a great earthquake. The robot is suitable for entering narrow and dark places covered with rubble in the disaster site, and for finding inside it. This robot can transmit the ambient sound to its operator by using the built-in microphones. However, there is a serious problem that the inherent noise of this robot, such as the vibration sound or the fricative sound, is mixed into the transmitting voice, therefore disturbing the operator's hearing for a call of help from the victim of the disaster. In this paper, we apply the multichannel NMF (nonnegative matrix factorization) with the rank-1 spatial constraint (Rank-1 MNMF), which was proposed by Kitamura et al., to the reduction of the inherent noise.</p>

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