Abstract
This paper presents a noise reduction on a hose-shaped rescue robot. The hose-shaped rescue robot is one of rescue robots developed on Tough Robotics Challenge, and it is used for searching for victims by getting one’s voice with its microphone-array. However, the ego noise, caused by its vibration motors, makes it difficult to get the human voice. We propose a noise reduction method using a blind source separation technique based on Independent Vector Analysis (IVA) and noise cancellation. Our method consists of two steps: (1) estimating a speech signal and an ego-noise signal from observed multi-channel signals using the IVA-based blind source separation technique, and (2) applying the noise cancellation to the estimated speech signal using the estimated ego-noise signal as a noise reference.
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