抄録
In this paper, we propose a new noise suppression method for telexistence robots that preserves binaural cues. Auditory system of telexistence robot is required to provide the user with adequate binaural cues for sound localization so that the user can feel as if he/she were in a distant place. However, auditory system of robot suffers from internal noise such as motor vibration and ambient noise. Signal processing for internal noise suppression may lead fatal damage on the binaural cues. The proposed method utilizes adaptive noise canceller in the lower band to suppress internal noise preserving binaural cues, and delay-and sum beamformer in the higher band to suppress ambient noise in the distant place. The proposed method is implemented in a robot head system with 8 microphones. The evaluation experiments show that the proposed method suppresses internal noise by 6dB and ambient noise by 7dB, and preserves binaural cues sufficient for sound localization.
