ManyEars Microphone Array-Based Audition for Mobile Robots

ManyEars implements real-time microphone array processing to perform sound source localisation, tracking and separation. It was designed for mobile robot audition in dynamic environments. This project was started at IntRoLab, Université de Sherbrooke, Sherbrooke, Québec, Canada.

New ODAS implementation

Please have a look at our new implentation called ODAS.

Authors

Author: François Grondin
Original Code: Jean-Marc Valin
Modified Code: Simon Brière
Support : Dominic Létourneau (@doumdi)

Features

• Real-Time
• Sound Source Localisation
• Sound Source Tracking
• Sound Source Separation
• Tuning GUI
• Microphone Array
• Beamforming

LICENSE

ManyEars is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. ManyEars is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with ManyEars. If not, see http://www.gnu.org/licenses/.

PUBLICATIONS

1. F. Grondin, D. Létourneau, F. Ferland, V. Rousseau, F.Michaud, "The ManyEars open framework", Autonomous Robots, 1-16, 2013.

2. S. Briere, J.-M. Valin, F. Michaud, Dominic Letourneau, Embedded Auditory System for Small Mobile Robots, Proc. International Conference on Robotics and Automation (ICRA), 2008.

3. J.-M. Valin, S. Yamamoto, J. Rouat, F. Michaud, K. Nakadai, H. G. Okuno, Robust Recognition of Simultaneous Speech By a Mobile Robot, IEEE Transactions on Robotics, Vol. 23, No. 4, pp. 742-752, 2007.

4. J.-M. Valin, F. Michaud, J. Rouat, Robust Localization and Tracking of Simultaneous Moving Sound Sources Using Beamforming and Particle Filtering. Robotics and Autonomous Systems Journal (Elsevier), Vol. 55, No. 3, pp. 216-228, 2007.

5. S. Yamamoto, K. Nakadai, M. Nakano, H. Tsujino, J.-M. Valin, K. Komatani, T. Ogata, H. G. Okuno, Simultaneous Speech Recognition based on Automatic Missing-Feature Mask Generation integrated with Sound Source Separation (in Japanese). Journal of Robotic Society of Japan, Vol. 25, No. 1, 2007.

6. J.-M. Valin, F. Michaud, J. Rouat, Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering. Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), pp. 841-844, 2006.

7. S. Briere, D. Letourneau, M. Frechette, J.-M. Valin, F. Michaud, Embedded and integration audition for a mobile robot. Proceedings AAAI Fall Symposium Workshop Aurally Informed Performance: Integrating Machine Listening and Auditory Presentation in Robotic Systems, FS-06-01, 6-10, 2006

8. S. Yamamoto, K. Nakadai, J.-M. Valin, J. Rouat, F. Michaud, K. Komatani, T. Ogata, H. G. Okuno, Making a robot recognize three simultaneous sentences in real-time. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005.

9. M. Murase, S. Yamamoto, J.-M. Valin, K. Nakadai, K. Yamada, K. Komatani, T. Ogata, H. G. Okuno, Multiple Moving Speaker Tracking by Microphone Array on Mobile Robot. Proc. European Conference on Speech Communication and Technology (Interspeech), 2005.

10. S. Yamamoto, J.-M. Valin, K. Nakadai, J. Rouat, F. Michaud, T. Ogata, H. G. Okuno, Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and Missing Feature Theory. Proc. International Conference on Robotics and Automation (ICRA), 2005.

11. J.-M. Valin, J. Rouat, F. Michaud, Enhanced Robot Audition Based on Microphone Array Source Separation with Post-Filter. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2123-2128, 2004.

12. J.-M. Valin, F. Michaud, J. Rouat, D. Letourneau, Robust Sound Source Localization Using a Microphone Array on a Mobile Robot. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1228-1233, 2003.

13. J.-M. Valin, F. Michaud, B. Hadjou, J. Rouat, Localization of Simultaneous Moving Sound Sources for Mobile Robot Using a Frequency-Domain Steered Beamformer Approach. Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 1033-1038, 2004.

14. J.-M. Valin, J. Rouat, F. Michaud, Microphone Array Post-Filter for Separation of Simultaneous Non-Stationary Sources. Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), pp. 221-224, 2004.