㻝㻙㻼㻙㻟ಠཱ௿ϥϯΫߦྻ෼ੳͱ౷‫ܭ‬తԻ੠‫ڧ‬ௐΛ༻͍ͨॊೈࡧঢ়ϩϘοτʹ͓͚ΔϒϥΠϯυԻ‫ݯ‬෼཭γεςϜͷ։ൃ ∗ˑࡾҪ঵‫װ‬ɼߔ‫ޱ‬૱ɼԐ౉༸ (౦େ)ɼӽஐ‫( ࢠܠ‬NII)ɼ๺ଜେ஍ (૯‫ݚ‬େ)ɼখ໺ॱ‫( و‬NII/૯‫ݚ‬େ)ɼ
ੴଜେɼલ੒ඒɼߴ૲໦๖ɼদҪ༟ଠ࿠ɼࢁԬᔨӯɼ຀໺তೋ (ஜ೾େ)

1͸͡Ίʹ೔ຊ͸ੈքͰ΋༗਺ͷ஍਒େࠃͰ͋Γɼಛʹۙ೥Ͱ͸ɼ‫נ‬᛽ͳͲͷ಺෦ʹਐೖͯ͠୳ࡧΛ͢Δ͜ͱ͕Մೳͳॊೈࡧঢ়ϩϘοτͷ։ൃ͕ਐΊΒΕ͍ͯΔɽຊϩϘοτʹ͸Ұఆͷִؒ͝ͱʹϚΠΫϩϗϯ͕ෳ਺‫ݸ‬औΓ෇͚ΒΕ͓ͯΓɼඃࡂऀͷ੠ͳͲΛ‫ݕ‬ग़͢Δ໨తͰ
ͷར༻͕૝ఆ͞ΕΔ͕ɼόΠϒϨʔλͷৼಈ΍஍໘ͱͷຎࡲԻͳͲ͕‫؍‬ଌԻʹϊΠζͱͯࠞ͠ೖ͢ΔͨΊɼ໨తԻ੒෼͕ຒ΋Εͯ͠·͏໰୊͕͋Δɽ͜ͷͨΊɼ࿥Ի͞Εͨ৴߸͔ΒࡶԻΛ཈ѹ͠ɼ໨తԻΛ‫ڧ‬ௐ͢
Δٕज़͕ඞཁͱ͞Ε͍ͯΔɽ
ຊߘͰ͸ɼଟνϟωϧԻ‫ݯ‬෼཭Ͱ͋Δಠཱ௿ϥϯΫߦྻ෼ੳʢindependent low-rank matrix analysis:
ILRMAʣ [1] ͓ΑͼϊΠζΩϟϯηϥɾ౷‫ܭ‬తϙετϑΟϧλ౳Λ૊Έ߹ΘͤΔ͜ͱʹΑͬͯɼ‫؍‬ଌ৴߸͔Β໨తԻΛΦϑϥΠϯॲཧʹΑΓ‫ڧ‬ௐ͢ΔγεςϜΛఏҊ͢Δɽ·ͨɼఏҊγεςϜͷ༗ޮੑΛ٬‫؍‬ධՁࢦඪ΍ओ‫؍‬ධՁ࣮‫݁ݧ‬ՌʹΑΓࣔ͢ɽ2ॊೈࡧঢ়ϩϘοτͱԻ‫ڹ‬త໰୊ॊೈࡧঢ়ϩϘοτ͸ࡂ֐‫ॿٹ‬Λࢧԉ͢Δ໨తͰ։ൃ͞Ε͓ͯΓɼ֎‫؍‬͸ Fig. 1 ʹࣔ͢௨ΓͰ͋ΔɽϩϘοτʹ͸ෳ਺ͷόΠϒϨʔλ͕౥ࡌ͞Ε͓ͯΓɼ͜ΕΒΛৼಈͤ͞Δͱɼද໘ʹ‫͚͖ͭר‬ΒΕͨಛघͳણໟͷޮՌʹΑͬͯϩϘοτ͸લਐ͢Δɽ‫נ‬᛽಺෦ͳͲͷঢ়ଶΛ೺Ѳ͢ΔͨΊɼϩϘοτຊମʹ͸ෳ਺ͷϚΠΫϩϗϯͳͲ֤छηϯα͕औΓ෇͚ΒΕ͍ͯΔɽ͔͠͠ɼϚΠΫϩϗϯͰ͸όΠϒϨʔλͷৼಈ΍஍໘ͱͷຎࡲԻ౳͕ΤΰϊΠζͱͯ͠‫؍‬ଌʹࠞೖ͢ΔͨΊɼ৴߸ॲཧʹΑΓࡶԻΛ཈ѹ͢Δඞ
ཁ͕͋ΔɽՃ͑ͯɼϩϘοτʹऔΓ෇͚ΒΕ͍ͯΔϚΠΫϩϗϯ͸ɼϩϘοτຊମͷ‫ܗ‬ঢ়มԽʹΑΓҐஔؔ܎͕࣌ؒతʹมԽ͢ΔͨΊɼैདྷͷΞϨΠ৴߸ॲཧʹΑΔԻ‫ڧݯ‬ௐख๏Λར༻͢Δ͜ͱ͸ࠔ೉Ͱ͋Δɽ3ఏҊγεςϜͷ֓ཁ

3.1 ࡧঢ়ϩϘοτʹ͓͚ΔϚΠΫϩϗϯ഑ஔࠓճར༻ͨ͠ࡧঢ়ϩϘοτ͸ɼFig. 2 ʹࣔ͢Α͏ʹ8 ‫ݸ‬ͷϚΠΫϩϗϯ͕ 2 ‫ͭͣݸ‬ϩϘοτͷઅ෦ʹ഑ஔ͞Ε͍ͯΔɽϚΠΫϩϗϯಉ࢜ͷִؒ͸ 600 mm Ͱ͋Δɽ֤અʹ͓͍ͯɼ2 ‫ݸ‬ͷϚΠΫϩϗϯ͸ͦΕͧΕ൓ରํ޲Λ޲͚ͯ഑ஔ͞Ε͓ͯΓɼࡧঢ়ϩϘοτͷͶ͡ΕʹؔΘΒ͍ͣͣΕ͔ҰํͷϚΠΫϩϗϯ্͕޲͖ͱͳΔͨΊɼ໨తԻ੒෼ͷ SN ൺΛ޲্Ͱ͖Δɽ
3.2 ৴߸ॲཧͷํ਑ຊߘͰ͸ɼΦϖϨʔλ͕‫ڧ‬ௐ͍ͨ͠໨తԻΛ੾Γग़͢͜ͱ͕ՄೳͰ͋Δঢ়‫گ‬Λ૝ఆ͠ɼ5 ඵఔ౓ͷ͘͝୹͍৴߸ΛόονॲཧʹΑͬͯ‫ڧ‬ௐ͢ΔͨΊͷγεςϜΛఏҊ͢Δɽ͜ͷ૝ఆΑΓɼҎԼΛԾఆͰ͖Δɽ(1) ϚΠΫϩϗϯͰͷ࿥Իதʹɼۭؒ఻ୡ‫ܥ‬ͷେ͖ͳ∗

Fig. 1

Overview of hose-shaped rescue robot.

Mic.

300mmMic.

Vibrator
Two microphones

Section

300mm

Fig. 2

Position of microphones and vibrators.

มಈ͕ͳ͍ɽ(2) ΤΰϊΠζͷύϫʔ͸֓ͶఆৗͰ͋Δɽ(3) ໨తԻ͕ଘࡏͤͣࡶԻͷΈͷ͕۠ؒଘࡏ͢ΔɽԾఆ (1) ΑΓɼϒϥΠϯυԻ‫ݯ‬෼཭ख๏Ͱ͋Δ ILRMA Λར༻ͨ͠໨తԻͷநग़͕ՄೳͱͳΔɽ·ͨɼILRMA Ͱଊ͖͑Εͳ͔ͬͨࡉ͔ͳ఻ୡ‫ܥ‬ͷมಈΛɼϊΠζΩϟϯηϥʹΑΓิঈ͢Δɽ͜ΕΒͷॲཧ‫ޙ‬ɼԾఆ (2)(3) ΑΓɼ౷‫ܭ‬తϙετϑΟϧλΛར༻ͯ͠ߋʹࡶԻΛ཈ѹͰ͖Δɽ͜͜ͰɼϙετϑΟϧλͷඇઢ‫ॲܗ‬ཧʹ‫ى‬Ҽͯ͠ϛϡʔδΧϧϊΠζ͕ൃੜ͢ΔͨΊɼϙετϑΟϧλͷήΠϯؔ਺ʹରͯ͠ฏ‫׈‬ԽॲཧΛࢪ͢͜ͱʹΑΓɼϛϡʔδΧϧϊΠζͷ཈ѹΛਤΔɽશମతͳ৴߸ॲཧͷྲྀΕΛ Fig. 3 ʹࣔ͢ɽ

3.3 ILRMAILRMA [1] ͸ۙ೥ఏҊ͞Εͨ༏ܾఆ৚݅ʹ͓͚ΔଟνϟωϧϒϥΠϯυԻ‫ݯ‬෼཭ख๏Ͱ͋Γɼઢ‫࣌ܗ‬ෆมͳۭؒϑΟϧλΛਪఆ͢Δ͜ͱʹΑͬͯԻ‫ݯ‬෼཭Λ࣮‫͢ݱ‬ΔɽILRMA Ͱ͸ɼϥϯΫ 1 ۭؒϞσϧ [2]ɾԻ‫ؒݯ‬ͷ౷‫ܭ‬తಠཱੑɾ֤Ի‫ݯ‬εϖΫτϩάϥϜͷ௿ϥϯΫੑʢNMF ϞσϧʣΛԾఆ͠ɼۭؒϑΟϧλͱԻ‫ ݯ‬NMF ϞσϧΛಉ࣌ʹਪఆ͢Δɽ
3.4 ϊΠζΩϟϯηϥϊΠζΩϟϯηϥ͸ɼ໨తԻΛऩ࿥͢ΔͨΊͷϚΠΫϩϗϯͷଞʹɼࡶԻͷΈΛऩ࿥͢ΔͨΊͷϦϑΝϨϯεϚΠΫϩϗϯΛ༻ҙ͠ɼฏ‫ۉ‬ೋ৐‫࠷ࠩޡ‬খԽΞϧΰϦζϜΛར༻ͯ͠ࡶԻ཈ѹΛߦ͏ख๏Ͱ͋Δɽ
ILRMA Ͱ͸ઢ‫࣌ܗ‬ෆมͳۭؒ఻ୡ‫ܥ‬ΛԾఆ͕ͨ͠ɼࡧঢ়ϩϘοτ͸ৗʹৼಈɾม‫͢ܗ‬ΔͨΊɼۭؒ఻ୡ‫ܥ‬͸࣌ؒతʹࡉ͔͘มಈ͓ͯ͠ΓɼϊΠζΩϟϯηϥʹΑͬͯ͜ΕΛิঈͰ͖ΔɽຊγεςϜʹ͓͍ͯ͸ɼ
ILRMA ͷग़ྗΛʮ໨తԻ੒෼͕‫·ؚ‬ΕΔνϟωϧʯͱʮͦΕҎ֎ͷνϟωϧͷ૯࿨ʢࡶԻ੒෼ʣʯʹ෼͚Δ͜ͱʹΑͬͯɼࡶԻ੒෼ΛϦϑΝϨϯε৴߸ͱͯ͠

Development of blind source separation system for ﬂexible hose-shaped robot using independent lowrank matrix analysis and statistical speech enhancement, by Yoshiki MITSUI, Satoshi MIZOGUCHI, Hiroshi SARUWATARI (The University of Tokyo), Keiko OCHI (NII), Daichi KITAMURA (SOKENDAI),Nobutaka ONO (NII/SOKENDAI), Masaru ISHIMURA, Narumi MAE, Moe TAKAKUSAKI, Yutaro
MATSUI, Kouei YAMAOKA, Shoji MAKINO (Universith of Tsukuba).

᪥ᮏ㡢㡪Ꮫ఍ㅮ₇ㄽᩥ㞟㻙㻌㻡㻝㻣㻌㻙㻞㻜㻝㻣ᖺ㻟᭶targetILRMA+NoiseCanceller

Postﬁlteroutput

referenceinputFig. 3Signal ﬂow of our proposed method.
Fig. 4

3.5 ϙετϑΟϧλϩϘοτʹ͓͚Δ࿥Ի৴߸͸ೖྗ SN ൺ͕ඇৗʹ௿͘ɼ্ड़ͷ 2 ख๏ͷΈͰ͸ࡶԻΛे෼ʹऔΓআ͘͜ͱ͕Ͱ͖ͳ͍ɽ͜͜ͰɼΤΰϊΠζ͕ఆৗ͔ͭύϫʔ͕ਪఆՄೳͰ͋Δ৔߹͸ɼ౷‫ܭ‬తϙετϑΟϧλΛར༻ͨ͠ߋͳΔࡶԻ཈ѹ͕ՄೳͰ͋Δɽ
MOSIE [4] ͸ϕΠζ‫ܕ‬ϙετϑΟϧλͷҰछͰ͋Γɼγϯάϧνϟωϧͷ৴߸ʹର͠໨తԻͷ‫ڧ‬ௐΛߦ͏ɽMOSIE Ͱ͸ɼ࣌ؒप೾਺ྖҬʹ͓͚Δৼ෯ͷࣄલ෼෍ͱͯ͠प೾਺Ϗϯ͝ͱʹ‫ݸ‬ผͳΧΠ෼෍ΛԾఆ͢ΔɽΧΠ෼෍͸εύʔεੑΛ੍‫͢ޚ‬Δ‫ܗ‬ঢ়฼਺
ρi Λύϥϝλͱͯ͠อ༗͓ͯ͠ΓɼϊΠζύϫʔ͕ਪఆՄೳͳ৔߹͸ɼ࠷దͳ ρi ΛϊΠζΩϟϯηϥͷग़ྗ͔Β‫͖Ͱࢉܭ‬Δ [5]ɽϊΠζΩϟϯηϥ͔Βग़ྗ͞Εͨৼ෯εϖΫτϩάϥϜΛ Xij ͱ͓͘ͱɼMOSIEΛར༻ͯ͠࠷దͳήΠϯؔ਺ Gij Λ‫ٻ‬ΊΔ͜ͱʹΑΓɼ໨తԻ੒෼Λ Gij Xij ͱͯ͠ਪఆͰ͖Δɽ͜ͷࡍɼ໨తԻ੒෼͕ଘࡏ͠ͳ͍௿Ҭʢ֓Ͷ 300 Hz ҎԼʣͱߴҬʢ֓Ͷ 4000 Hz Ҏ্ʣͷଳҬΛΧοτͨ͠΄͔ɼௌ‫ײ‬඼࣭ΛߴΊΔͨΊʹɼmedian ϑΟϧλ‫ͼٴ‬ήΠϯฏ‫׈‬Խ [6] Λߋʹద༻͍ͯ͠Δɽ
3.6 γεςϜͷಈ࡞࣌ؒຊγεςϜ͸શͯ MATLAB Ͱ࣮૷͞Ε͓ͯΓɼIntel Xeon E3-1505M (2.8 GHz) Λ౥ࡌͨ͠ϊʔτ PCΛར༻ͯ͠ॲཧ࣌ؒΛ࣮ଌͨ͠ͱ͜Ζɼ5 ඵؒͷ৴߸ʹର͠໿ 55 ඵͷॲཧ࣌ؒΛඞཁͱͨ͠ɽ͜ͷॲཧ࣌ؒͷ͏ͪɼ໿ 52.5 ඵ͕ ILRMA ʹΑΔԻ‫ݯ‬෼཭ʹཁͨ࣌ؒ͠Ͱ͋ΓɼϊΠζΩϟϯηϥ͓ΑͼϙετϑΟϧλ͸߹‫ͯ͠ܭ‬໿ 3 ඵؒఔ౓ͷॲཧͱͳ͍ͬͯΔɽ

4ධՁ࣮‫ݧ‬4.1 ධՁख๏ຊγεςϜʹΑΔࡶԻ཈ѹͷ඼࣭ΛධՁ͢ΔͨΊɼٖࣅతͳ‫؍‬ଌ৴߸Λ࡞੒࣮ͯ͠‫ݧ‬Λߦͬͨɽ໨తԻ৴߸͸ɼ‫נ‬᛽தΛ໛ͨ͠‫ࣄͰڥ؀‬લʹଌఆ֤ͨ͠ϚΠΫϩϗϯͷΠϯύϧεԠ౴ΛυϥΠιʔεʹ৞ΈࠐΉ͜ͱͰ࡞੒͠ɼࡶԻ৴߸͸ϩϘοτͷόΠϒϨʔλΛ࣮ࡍʹಈ࡞ͤͯ͞࿥Իͨ͠ɽ໨తԻͱࡶԻͷೖྗ SN ൺ
͸ −25 dB ͔Β 0 dB ·Ͱ 5 dB ࠁΈͰมԽͤ͞ɼ͜
ΕΒ 2 छྨͷ৴߸Λ࣌ؒྖҬͰՃࢉ͠ɼٖࣅతͳ‫؍‬ଌ৴߸ͱͨ͠ɽධՁࢦඪͱͯ͠͸ɼԻ‫ݯ‬෼཭ͷ૯߹తੑೳΛଌఆͰ͖Δ signal-to-distortion ratioʢSDRʣ͓ΑͼɼࡶԻ཈ѹྔΛଌఆͰ͖Δ signal-to-interferenceratioʢSIRʣΛར༻ͨ͠ɽධՁ͸ٙࣅ‫؍‬ଌ৴߸ʹରͯ͠ ILRMA Λద༻ͨ͠৴߸ʢILRMAʣɾߋʹϊΠζɾߋʹϙετϑΟϧΩϟϯηϥΛద༻ͨ͠৴߸ʢNCʣλΛద༻ͨ͠৴߸ʢPFʣͷ΄͔ɼॲཧΛߦΘͳ͍ٙࣅ‫؍‬ଌ৴߸ʢRawʣ͓Αͼิॿؔ਺๏ʹΑΔಠཱϕΫτϧ෼ੳ [7] Λద༻ͨ͠৴߸ʢAuxIVAʣͷ 5 छྨʹ͍ͭͯߦͬͨɽ্ड़ͷ٬‫؍‬ධՁࢦඪͷଌఆʹՃ͑ͯɼೖྗ SN ൺ−25 dB ͷٙࣅ‫؍‬ଌ৴߸Λ෼཭ͯ͠ಘΒΕΔ৴߸Λར᪥ᮏ㡢㡪Ꮫ఍ㅮ₇ㄽᩥ㞟

Subjective scoreϊΠζΩϟϯηϥΛద༻͢ΔɽৄࡉͳΞϧΰϦζϜ͸จ‫[ ݙ‬3] ͳͲΛࢀর͞Ε͍ͨɽ

SDR and SIR scores.

1.5
10.5
0-0.5-1-1.5
Raw

AuxIVA ILRMANCPFFig. 5 Results of subjective evaluation. Error bar
denotes 95% conﬁdence interval.
༻͠ɼ7 ໊ʹΑΔओ‫؍‬ධՁ࣮‫ݧ‬Λߦͬͨɽ͜͜Ͱ͸ɼඃ‫ʹऀݧ‬ର͠લड़ͷ 5 छྨͷ৴߸Λ 2 छྨͣͭௌऔͤ͞ɼΑΓԻ੠͕໌ྎʹฉ͑͜Δ΋ͷΛબ୒ͤͨ͞ɽ

4.2 ݁ՌFigure 4 ͸ɼ͋ΔϩϘοτͷ࢟੎ʹ͓͚Δ SDR ͓Αͼ SIR Λࣔ͢ɽೖྗ SN ൺ͕े෼ʹ௿͍ঢ়‫͓ʹگ‬͍ͯ͸ɼॲཧΛ‫ܦ‬ΔʹͭΕͯ SDRɾSIR ͕վળ͢Δ༷ࢠΛಡΈऔΔ͜ͱ͕Ͱ͖ΔɽSN ൺ͕ −5 dB ΑΓߴ͍ঢ়‫͍͓ͯʹگ‬ɼॲཧʹΑΓ SDR ͕ѱԽ͢Δ৔߹΋ΈΒΕΔ͕ɼ͜Ε͸ϊΠζΩϟϯηϥ͓ΑͼϙετϑΟϧλͷඇઢ‫ॲܗ‬ཧ͔Βੜ͡Δ࿪Έʹ‫ى‬Ҽ͍ͯ͠
Δͱߟ͑ΒΕΔɽ·ͨɼFig. 5 ͸ɼओ‫؍‬ධՁʹΑΓಘΒΕͨείΞΛࣔ͢ɽ͜ΕΒͷ݁ՌΑΓɼఏҊγεςϜΛར༻ͨ͠ࡶԻ཈ѹޮՌ͕֬ೝ͞Εͨɽ5͓ΘΓʹຊߘͰ͸ɼॊೈࡧঢ়ϩϘοτʹ͓͚ΔࡶԻ཈ѹγεςϜʹ͍ͭͯड़΂ͨɽ։ൃͨ͠γεςϜʹ͓͚Δ৴
߸ॲཧ͸ɼILRMAɼϊΠζΩϟϯηϥɼϙετϑΟ
ϧλͷ 3 ஈ֊ͷॲཧΛ‫͓ͯܦ‬Γɼ٬‫؍‬ධՁࢦඪ͓Αͼओ‫؍‬ධՁ࣮‫ݧ‬Λ௨͡ɼॲཧΛ‫ܦ‬ΔʹͭΕͯࡶԻ཈ѹͷޮՌ͕ΈΒΕΔ͜ͱΛࣔͨ͠ɽँࣙ ຊ‫ڀݚ‬͸ɼ૯߹Պֶٕज़ɾΠϊϕʔγϣϯձٞʹΑΔֵ৽త‫ڀݚ‬։ൃਪਐϓϩάϥϜʢImPACTʣͷॿ੒Λड͚ͨɽࢀߟจ‫ݙ‬[1] D. Kitamura et al., IEEE/ACM Trans. Audio,Speech, Lang. Process., 24 (9), 1626–1641, 2016.
[2] N.Q.K. Duong et al., IEEE Trans. Audio,Speech, Lang. Process., 18 (7), 1830–1840, 2010.
[3] M. Ishimura et al., Proc. IWAENC, 2016.
[4] C. Breithaupt et al., IEEE Trans. Audio, Speech,Lang. Process., 19 (2), 277–289, 2011.
[5] Y. Murota et al., Proc. ICASSP, 7540–7544,2014.
[6] T. Esch et al., Proc. ICASSP, 4409–4412, 2009.
[7] N. Ono, Proc. WASPAA, 189–192, 2011.

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