Speaker Localization among multi-faces in noisy environment by audio-visual Integration

In this paper, we not only developed a reliable sound localization system including VAD (Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we proposed a way to integrate these systems in the human-robot interaction to compensate the errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from the undesired directions effectively. For the purpose of verifying our system's performances, we installed the proposed audition and vision system to the prototype robot, called IRORAA (Intelligent ROBot for Active Audition), and showed how to integrate an audio-visual system.