Source: https://patents.google.com/patent/KR100959983B1/en
Timestamp: 2020-02-20 01:18:32
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Matched Legal Cases: ['art 3', 'arts 40', 'art 160', 'art 40', 'art 1003', 'art 1002', 'art 21', 'art 1004', 'arts 70']

KR100959983B1 - Sound source separating device, speech recognizing device, portable telephone, and sound source separating method, and program - Google Patents
Sound source separating device, speech recognizing device, portable telephone, and sound source separating method, and program Download PDF
KR100959983B1
KR100959983B1 KR20077026955A KR20077026955A KR100959983B1 KR 100959983 B1 KR100959983 B1 KR 100959983B1 KR 20077026955 A KR20077026955 A KR 20077026955A KR 20077026955 A KR20077026955 A KR 20077026955A KR 100959983 B1 KR100959983 B1 KR 100959983B1
KR20077026955A
KR20080009211A (en
가쯔마사 나가하마
신야 마쯔이
2005-08-11 Priority to JPJP-P-2005-00233195 priority Critical
2005-08-11 Priority to JP2005233195 priority
2006-08-11 Application filed by 아사히 가세이 가부시키가이샤 filed Critical 아사히 가세이 가부시키가이샤
2008-01-25 Publication of KR20080009211A publication Critical patent/KR20080009211A/en
2010-05-27 Publication of KR100959983B1 publication Critical patent/KR100959983B1/en
It is possible to separate the sound source signal from the target sound source among the mixed sounds in which sound source signals emitted from the plurality of sound sources are mixed without being affected by variations in the sensitivity of the microphone element. The beam former unit 3 of the sound source separation device 1 multiplies the weighting coefficients in the complex conjugate region with respect to the output signals from the microphones 10 and 11 after spectral analysis, thereby providing two microphones 10 and 11. Beamformer processing is performed to attenuate the sound source signals each coming from a direction symmetrical to the straight line connecting. The power calculators 40 and 41 calculate power spectrum information, and the target sound spectrum extractors 50 and 51 extract spectrum information of the target sound source based on the difference between the power spectrum information.
Microphone, spectrum analyzer, beamformer, phase extractor, power calculator, target sound spectrum extractor, time waveform transformer
Sound source separation device, voice recognition device, mobile phone, sound source separation method, and program {SOUND SOURCE SEPARATING DEVICE, SPEECH RECOGNIZING DEVICE, PORTABLE TELEPHONE, AND SOUND SOURCE SEPARATING METHOD, AND PROGRAM}
The present invention uses a plurality of microphones and separates sound source signals that separate sound source signals coming from a target sound source from a plurality of sound signals emitted from a plurality of sound sources or a plurality of sound signals such as various environmental noises. A device, a speech recognition device, a mobile phone, a sound source separation method, and a program are provided.
In the case where it is desired to record a specific voice signal or the like in various environments, since there are various noise sources in the surrounding environment, it is difficult to record only the signal as the target sound by the microphone, and some noise reduction processing or sound source separation processing is required.
As an example in which these processes are especially needed, an automotive environment is mentioned, for example. In a motor vehicle environment, the spread of mobile telephones generally leads to a significant deterioration in call quality when using a mobile phone spaced apart in a vehicle. In addition, even when speech recognition is performed while driving in an automobile environment, speech is generated in the same situation, which causes a deterioration of speech recognition performance. Advances in current speech recognition technology make it possible to recover a significant portion of the degraded performance against the problem of degradation of speech recognition rate relative to normal noise. However, it is difficult to cope with the present speech recognition technology, and there is a problem of deterioration of the recognition performance at the time of simultaneous speaking of multiple speakers. Since the current speech recognition technology has a low technology of recognizing a mixed voice of two people who are uttered at the same time, when a voice recognition device is used, passengers other than the talker are restricted from speaking, and a situation in which the behavior of the passenger is restricted is generated. . Although the independent principal component analysis method etc. are used as a method of these sound source separation, there exist problems, such as a calculation amount and the fluctuation of a sound source, and it is not put to practical use.
In order to solve the above problem, various methods of attaching a plurality of microphones in a vehicle to record only sound from a specific direction have been proposed, but it is difficult to secure a space for attaching a plurality of microphones in a vehicle, It is also difficult to use a characteristic microphone because of the technical problem. For this reason, a method of operating using a microphone with characteristic variations as few as possible is desired.
In general, when a plurality of microphones are used, it is said that the lower the microphone, the greater the variation in the sensitivity characteristic, and the variation in each frequency characteristic by about ± 3 dB. The variation of these characteristics is that microphone array performance cannot realize the same characteristics as design in addition array processing such as delayed sum array among microphone array technologies, but in a so-called subtraction array such as adaptive array, one microphone is used. In particular, the performance may be deteriorated at a low range of about 1 kHZ or less than in the case.
Variation of the characteristics of the microphone as a sensor in the microphone array technology is a big problem, and as a countermeasure, a method of adjusting the sensitivity of a plurality of microphone elements to Patent Documents 1 to 5 or the like has been proposed.
Conventionally, as described in Non-Patent Document 1 and Non-Patent Document 2, a microphone array using an adaptive beamformer processing technique in which a large effect is obtained with a small number of microphones, a generalized side lobe canceller ( Various methods are known, such as GSC), a frosted beamformer, and the reference signal method.
The adaptive beam former process is basically a process of suppressing noise by a filter in which a directional beam having a square in the direction of the noise source is formed. Among them, a generalized side lobe canceller is known to have relatively good performance. However, in GSC, there is a problem that the target signal is canceled and degraded when the target signal arrives from a direction shifted from the direction of the set target signal source. On the other hand, in Patent Documents 6 and 7, the calculation amount is reduced by operating this in the frequency domain, and the speaker direction and the specific noise direction are sequentially detected from the filter coefficients in the frequency domain, and noise other than the target sound and the target sound are detected. A method of separating to some extent and using in combination with spectral subtraction to reduce noise of unknown direction or diffuse noise is disclosed.
[Patent Document 1] Japanese Patent Application Laid-Open No. 5-131866
[Patent Document 2] Japanese Patent Application Laid-Open No. 2002-99297
[Patent Document 3] Japanese Patent Application Laid-Open No. 2003-153372
[Patent Document 4] Japanese Patent Application Laid-Open No. 2004-343700
[Patent Document 5] Japanese Patent Application Laid-Open No. 2004-289762
[Patent Document 6] Japanese Patent Application Laid-Open No. 2001-100800
[Patent Document 7] Japanese Patent Application Laid-Open No. 2000-47699
[Non-Patent Document 1] Society for Electronic and Information Communication, "Acoustic System and Digital Processing"
In the technique combining the adaptive beam former and the spectral subtraction as described in Patent Documents 6 and 7, in the case where there is a variation in the device sensitivity of the microphone, the reference signal suppressing the target signal as an input signal of the adaptive filter unit is used. Although it is necessary to create the target signal, the target signal cannot be sufficiently suppressed, and the target signal is included in both the reference signal and the target signal of the adaptive filter unit. As a result of the adaptive filter processing, the target signal is distorted and the sound quality deteriorates. The same phenomenon occurs because the target signal leaks into the reference signal even in a closed space with a large initial reflection.
To solve this problem, in order to correct the device sensitivity of the microphone, the variation is measured at the time of assembly of the product, the correction data is generated and corrected at the time of use, or at the time of use, the device sensitivity of the microphone is used by using a reference signal from a specific direction. Although there is a method of measuring and correcting the variance due to individual differences, changes in ambient temperature, and aging of parts, how to increase manufacturing cost, when to reproduce a reference signal, or whether a recorded signal is really a reference signal only. There is a problem such as judging.
In addition, paying attention to the operation of the adaptive filter, in general, when the reference signal and the target signal have a high correlation in the adaptive filter, the estimation operation of the adaptive filter is not performed well, which significantly degrades the estimation accuracy. An example is the case where both the target signal and the noise are voice signals.
The same problem occurs in the echo canceller, and in an adaptive filter that estimates the echo mixed in the near-end signal from the far-end signal, when two people simultaneously fire at both the far-end and the near-end, so-called double talk conditions occur and echo cancellation The operation of the roller is significantly degraded. For this reason, how to accurately detect the double talk state and stop parameter estimation of the adaptive filter or slow down the estimation speed is an important performance condition.
Therefore, even in the present adaptive filter operation, when both the target signal and the specific noise are negative, it is necessary to detect a state in which both of them are uttered and at the same time, the adaptive filter estimation is stopped as the frequency of both utterances is increased. There is a problem that the frequency is increased, and as a result, the noise canceling performance of the adaptive filter is degraded.
In addition, in a situation where large diffuse noise such as driving noise of a vehicle occurs, the estimation accuracy of the adaptive filter is deteriorated due to the influence of diffuse noise. As a result, the speaker direction and the specific noise using the filter parameter estimated by the adaptive filter are reduced. There is a problem in that the direction estimation accuracy of the direction of deterioration deteriorates and the performance of the entire system deteriorates.
In the method described in Patent Documents 6 and 7, the noise component suppression apparatus is to be constructed using a low cost microphone for automobiles, and the like, the initial reflection of the sound source in the vehicle is large, the diffuse noise component is large, and the use In the case of large fluctuations in the microphone element (about ± 3db), the driver and passengers ignite at the same time, and the highly correlated target sound and the specific noise exist at the same time, the adaptive filter unit does not perform the desired operation. It cannot be realized.
The present invention has been made in view of the above problems, and it is possible to separate a sound source signal from a target sound source from a mixed sound in which sound source signals emitted from a plurality of sound sources are mixed without being affected by variations in sensitivity of a microphone element. It is an object of the present invention to provide a sound source separating device, a speech recognition device, a mobile phone, a sound source separating method, and a program.
In order to solve the said subject, the invention of Claim 1 receives the mixed sound which mixed the sound source signal emitted from the several sound source with respect to the at least 2 microphone arrange | positioned apart from each other, and receives from the target sound source from the mixed sound. A sound source separation device for separating a sound source signal, comprising: performing a first beamformer process for attenuating a sound source signal coming from a predetermined direction by performing a calculation using a first coefficient on an output signal from the microphone; Computation of the output signal from the microphone with the first coefficient and the second coefficient in the complex conjugate in the frequency domain results in symmetry with the predetermined direction with respect to the straight line connecting the two microphones. Second beam former for attenuating sound source signals coming from the in direction On the basis of the difference between the beamformer means for performing reconstruction, the power calculation means for calculating the power spectrum information for each of the sound source signals obtained by the beamformer means, and the power spectrum information calculated by the power calculation means, Provided is a sound source separation device comprising: a target sound spectrum extracting means for extracting spectrum information of a sound source.
According to the present invention, the sound source separation device can realize the property that the directivity characteristic is not affected by the sensitivity of the microphone element, and is not influenced by the fluctuation of the sensitivity of the microphone element, so that the sound source signals emitted from the plurality of sound sources Among the mixed sounds to be mixed, it becomes possible to separate the sound source signal from the target sound source.
In the invention according to claim 2, in the sound source separation device according to claim 1, the beam former means includes the combination of any two microphones and a combination of the other two microphones among the three microphones arranged apart from each other. A first beamformer process and a second beamformer process are performed.
According to the present invention, it is possible to extract a sound source signal from a target sound source existing in each region of the three microphones bordered by a straight line connecting two microphones.
The invention according to claim 3 is characterized in that the sound source separation device according to claim 1 or 2 further comprises a directivity control means for providing a delay to the output signal from the microphone.
According to the present invention, by providing a delay, the directivity characteristic can be corrected to an optimum state, and the separation performance of the sound source can be improved.
In the invention according to claim 4, in the sound source separation device according to claim 3, the directivity control means virtually outputs signals from the three microphones by giving a delay to the output signal from at least one of the two microphones. It characterized in that to generate.
According to the present invention, since the output signal from three microphones can be virtually generated, it is possible to separate and extract the sound source signal from the direction of the straight line connecting the two microphones using only two microphones. do.
The invention according to claim 5 is further provided with a direction of arrival estimating means for estimating a direction in which the sound source signal arrives, in the sound source separation device according to claim 3 or 4, wherein the directivity control means is adapted to the direction of arrival direction estimating means. Based on the coming direction estimated by the above, the delay is given to the output signal from the microphone so that the positions of the two sound sources are symmetrical with respect to the straight line connecting the two microphones virtually.
According to the present invention, it becomes possible to perform a delay operation so that a high separation performance of a sound source can be obtained.
The invention according to claim 6 further includes a spectral subtraction means for performing a spectral subtraction process on the power spectrum information extracted by the target sound extraction means in the sound source separation device according to any one of claims 1 to 5. Characterized in that provided.
According to the present invention, by performing the spectral subtraction process, it is possible to remove normal noises of unknown direction, diffuse noise, and the like.
The invention according to claim 7 further includes, in the sound source separating device according to any one of claims 1 to 6, a normal noise reduction means for performing a process for reducing noise before performing the processing by the beam former means. It is characterized by.
According to the present invention, it becomes possible to reduce the occurrence of unpleasant noise in the hearing such as musical noise.
The invention according to claim 8 provides a speech recognition device including speech recognition means for performing speech recognition of a sound source signal separated by the sound source separation device according to any one of claims 1 to 7.
According to the present invention, speech recognition with high precision can be performed based on sound source signals separated with high precision.
The invention according to claim 9 is the driver's side recognition vocabulary which is a list of the driver's seat recognition vocabulary list which is a list of candidates of the vocabulary issued from the driver's seat side of the vehicle and the candidate of the vocabulary issued from the passenger's side in the speech recognition apparatus according to claim 8. And a recognizing vocabulary list storing means for storing a list, wherein the speech recognizing means is provided to the sound source separating apparatus based on the driver's seat recognition vocabulary list and the passenger seat recognition vocabulary list stored in the recognition vocabulary list storage means. Characterized in that the speech recognition process of the separated sound source signal is performed.
According to the present invention, since the speech recognition apparatus performs speech recognition processing based on the passenger seat side recognition vocabulary list and driver's seat recognition vocabulary list stored in the recognition vocabulary list storage means, it is most suitable for the driver's seat and the passenger seat. Vocabulary can be selected, and speech recognition can be performed with high accuracy.
In the invention according to claim 10, in the speech recognition apparatus according to claim 8 or 9, an effective vocabulary for storing the state transition means for managing the current state of the vehicle and a list of valid vocabularies on the passenger side and driver's side according to the state of the vehicle. Whether the vocabulary recognized by the speech recognition means is valid based on the list storage means, the state of the current vehicle managed by the state transition means, and the vocabulary list stored in the effective vocabulary list storage means. It is characterized by further comprising control means for judging whether or not to perform control according to the determination result.
According to the present invention, it is possible to determine whether the recognized vocabulary is valid based on the current state of the vehicle and the valid vocabulary list, and control can be performed according to the determination result. Can be. In addition, since the effective vocabulary list and the control contents can be freely designed, a degree of freedom can be given to designing an application using speech recognition.
The invention according to claim 11 provides a portable telephone including the sound source separation device according to any one of claims 1 to 7.
According to the present invention, it is possible to use a mobile phone as a microphone in a medium-sized conference room or the like.
According to the twelfth aspect of the present invention, there is provided a sound source signal receiving step of receiving sound source signals emitted from a plurality of sound sources with respect to at least two microphones spaced apart from each other, and a complex conjugate in a frequency domain with respect to an output signal from the microphone. A first beamformer processing and a first beamformer process for attenuating a sound source signal coming from a predetermined direction symmetrical with respect to a straight line connecting two microphones by performing calculation using each of the two weighting coefficients in relation to On the basis of the difference between the beamformer processing step for performing the two beam former processing, the power calculation step for calculating the power spectrum information for each of the sound source signals obtained in the beamformer processing step, and the power spectrum information calculated in the power calculating step. To extract the spectral information of the target sound source Provided is a sound source separation method comprising a rum extraction step.
Invention of Claim 13 is acquired by the output signal acquisition step which acquires the output signal which mixed the sound source signal emitted from the several sound source from the at least two microphones arrange | positioned at the computer, and spaced apart from each other, and the said output signal acquisition step. The calculated output signal is calculated using each of the two weighting coefficients in the complex conjugate in the frequency domain, so that a sound source signal coming from a predetermined direction symmetrical with respect to the straight line connecting the two microphones is obtained. A beamformer processing step of performing a first beamformer process and a second beamformer process for respectively attenuating, a power calculating step of calculating power spectrum information for each of the sound source signals obtained in the beamformer processing step, and the power calculating step On the basis of the difference between the power spectrum information calculated in The purpose of extracting the sound spectrum information provides a program for executing a spectrum extracting step.
According to the present invention, a calculation is performed using each of two weighting coefficients in a complex conjugate relationship in the frequency domain, thereby respectively generating a sound source signal coming from a predetermined direction symmetrical with respect to a straight line connecting two microphones. By performing the first beamformer processing and the second beamformer processing to attenuate, attenuate the sound source signals coming from a direction symmetrical with respect to the straight line connecting the two microphones, respectively, and the first beamformer processing and the By extracting the spectral information of the target sound source based on the difference between the power spectral information for each of the sound source signals obtained by the second beam former processing, the property that the directivity characteristic is not affected by the sensitivity of the microphone element can be realized. I am not affected by the fluctuation of the sensitivity of the microphone element, and from a plurality of sound sources It is possible to separate the sound source signal from the target sound source from the mixed sound in which the emitted sound source signals are mixed.
1 is a diagram showing a basic configuration of a sound source separation system according to a first embodiment of the present invention.
2 is a diagram showing an example of a type of microphone according to the embodiment;
3 is a diagram illustrating a configuration of a beam former part according to the embodiment;
4 is a diagram illustrating a configuration of a power calculation unit according to the embodiment.
5 is a diagram illustrating a configuration of a target sound spectrum extraction unit according to the embodiment;
FIG. 6 is a view for explaining a square control beam former according to the embodiment; FIG.
7 is a view for explaining a square control beam former according to the embodiment;
8 is a diagram showing an example of directivity characteristics of difference results according to the embodiment;
Fig. 9 is a diagram showing the directing characteristics of a conjugated beam former when the element sensitivity difference of the microphone according to the embodiment is varied.
Fig. 10 is a diagram showing the directivity characteristics of the beam former alone when the microphone sensitivity difference of the microphone according to the embodiment is varied.
FIG. 11 is a diagram showing a graph obtained by obtaining a 360 degree directivity characteristic of the sound source separation device according to the embodiment; FIG.
Fig. 12 is a diagram showing an example of two-person individual recording using the directivity characteristic of the sound source separating apparatus according to the embodiment.
Fig. 13 is a diagram showing an example of a microphone for a simple hands-free device and a voice recognition device using the directivity characteristic of the sound source separating device according to the embodiment;
The figure which shows the microphone attachment point in the evaluation experiment which concerns on the same embodiment.
15 is a diagram illustrating conditions of an evaluation experiment according to the embodiment.
FIG. 16 is a diagram showing an evaluation experiment result according to the embodiment; FIG.
17 is a diagram illustrating a configuration of a sound source separation system according to a second embodiment.
18 is a diagram illustrating a configuration of a beam former according to the embodiment.
19 is a diagram illustrating a configuration of a sound source separation system according to a third embodiment.
20 is a diagram illustrating a configuration of another sound source separation system according to the embodiment.
FIG. 21 is a diagram showing a configuration of a target sound spectrum extraction unit according to the embodiment; FIG.
FIG. 22 is a diagram illustrating a configuration of a sound source separation system according to a fourth embodiment. FIG.
FIG. 23 is a diagram illustrating a configuration of a sound source separation system according to a fifth embodiment. FIG.
24 is a diagram showing an example of directivity control according to the embodiment;
25 is a diagram showing the configuration of a directivity control unit according to the embodiment;
FIG. 26 is a diagram illustrating a configuration of a sound source separation system according to a sixth embodiment.
27 is a diagram illustrating a configuration of a sound source separation system according to the seventh embodiment.
FIG. 28 is a diagram for explaining positions of sound sources to be separated according to the embodiment; FIG.
Fig. 29 is a diagram showing an example of installation of a unidirectional microphone according to the embodiment.
30 is a diagram showing an example of the configuration of a target sound extraction unit according to the embodiment;
FIG. 31 is a diagram showing an example of the configuration of a target sound extraction unit according to the embodiment; FIG.
32 is a diagram showing an example of the configuration of a target sound extraction unit according to the embodiment;
Fig. 33 is a diagram showing an example of audio input to a personal computer using the sound source separating apparatus according to the embodiment.
Fig. 34 is a view for explaining a target sound range and a noise range according to the eighth embodiment.
35 is a view for explaining a delay operation according to the embodiment;
36 is a diagram showing an example of the configuration of directivity control means according to the embodiment;
37 is a diagram showing an example of the configuration of a sound source separation device system according to the embodiment;
38 is a diagram showing an example of a processing method in an object sound extraction unit according to the embodiment;
39 is a diagram showing an example of a processing method in an object sound extraction unit according to the embodiment;
40 is a diagram illustrating a configuration of a voice recognition system for on-vehicle device control according to a ninth embodiment;
Fig. 41 is a diagram showing a mobile phone according to the tenth embodiment.
Fig. 42 is a diagram showing the microphone arrangement in the sound source separation system according to the eleventh embodiment.
43 is a diagram showing an environment to which a sound source separation system according to a twelfth embodiment is applied;
FIG. 44 is a diagram illustrating an input state of spoken sounds to which a sound source separation system according to the embodiment is applied. FIG.
45 is a diagram illustrating a configuration of a guidance voice deleting unit according to the embodiment;
FIG. 46 is a diagram showing the configuration of a target speech extracting unit according to the embodiment; FIG.
FIG. 47 is a diagram showing another configuration of the guidance voice deleting unit according to the embodiment; FIG.
48 is a diagram showing a configuration of a target speech extracting section in another configuration of the guidance speech deleting section according to the embodiment;
FIG. 49 shows another environment to which a sound source separation system according to the embodiment is applied;
Fig. 50 is a diagram showing another input situation of speech sounds to which the sound source separation system according to the embodiment is applied.
FIG. 51 shows another configuration of the sound source separation system according to the embodiment; FIG.
EMBODIMENT OF THE INVENTION Hereinafter, embodiment which concerns on this invention is described with reference to drawings.
1 is a diagram illustrating a basic configuration of a sound source separation system according to a first embodiment of the present invention. This system is composed of two microphones (hereinafter referred to as "microphones") 10 and 11 and a sound source separating device 1. This sound source separating device 1 includes a CPU (not shown) for controlling the whole and executing arithmetic processing, hardware including a storage device such as a ROM, a RAM, a hard disk device, and programs and data stored in the storage device. And software including the like. By these hardware and software, the functional block shown in FIG. 1 is realized.
The two microphones 10 and 11 are omnidirectional microphones, and are arranged on the plane by a few cm from each other. The microphones 10 and 11 are basically omnidirectional, but a single directional microphone as shown in Fig. 2 can also be used. The microphones 10 and 11 receive signals from two sound sources R1 and R2. At this time, these two sound sources R1 and R2 are respectively located in two regions (hereinafter referred to as "left and right of water line") divided by a line drawn with respect to a straight line connecting two microphones 10 and 11, respectively. However, it does not necessarily need to exist in a position symmetrical with respect to the waterline.
The two sound source signals obtained by the microphones 10 and 11 are frequency-analyzed for each microphone output by the spectrum analyzer 20 and 21, and the signals analyzed by the beamformer 3 are then analyzed by the two microphones 10. Filtering is performed by beam formers 30 and 31 having a square formed symmetrically to the left and right of the line drawn with respect to the straight line connecting 11), and the power of the filter output is calculated by the power calculating units 40 and 41, The target sound spectrum extracting sections 50 and 51 output a value equal to or greater than a certain predetermined value for the result of calculating the respective difference and perform a process of setting the value equal to or less than zero. Unlike the process of forming a blind spot with respect to a specific specific noise, these processes are caused by fluctuations in the element sensitivity of the microphone, which has been a conventional problem by forming the beam former 3 under some conditions and performing the above process. In addition to solving the problem of deterioration of the characteristics of the microphone array, it is possible to realize the directivity characteristic for separating sound from the left and right around the water line for a wide frequency band. Hereinafter, each functional block will be described in detail.
[Beam former part]
First, with reference to FIG. 3, the structure of the beam former part 3 is demonstrated. In FIG. 3, the multipliers 100a, 100b, 100c, and 100d are inputted with the signals x 1 (ω) and x 2 (ω) decomposed for each frequency component by the spectrum analyzer 20 and the spectrum analyzer 21 as inputs. , Multiply the weighting coefficients w 1 (ω), w 2 (ω), w 1 * (ω), w 2 * (ω) (* indicates that the complex conjugate is related), and adder Two multiplication results are added at (100e, 100f), and the filtering results ds 1 (ω) and ds 2 (ω) are output as the outputs. As described above, the beam former 3 forms a square at a symmetrical position centering on a straight line connecting the microphones 10 and 11 by using a complex conjugate filter coefficient.
[Power calculation unit]
Next, with reference to FIG. 4, the power calculation parts 40 and 41 are demonstrated. The power calculation units 40 and 41 calculate the outputs ds 1 (ω) and ds 2 (ω) from the beamformer 30 and the beamformer 31 by using the following calculation formulas. The power calculating section 41 converts the power spectrum information ps 1 (ω) and ps 2 (ω).
ps 1 (ω) = [Re (ds 1 (ω))] 2 + [Im (ds 1 (ω))] 2
ps 2 (ω) = [Re (ds 2 (ω))] 2 + [Im (ds 2 (ω))] 2
[Purpose Sound Spectrum Extraction]
Next, referring to FIG. 5, the target sound spectrum extraction units 50 and 51 will be described. The outputs ps 1 (ω) and ps 2 (ω) of the power calculation units 40 and 41 represent the target sound spectrum. It is used as two inputs of the extraction sections 50 and 51. The target sound spectrum extractors 50 and 51 input power spectrum information of the outputs of the two beam formers 30 and 31 as outputs, and output the left and right target sounds as outputs, but internally, the difference calculator 500 , 510 and coefficient converters 501 and 511.
The difference calculator 500 subtracts the power spectrum information of the beamformer 31 from the power spectrum information of the beamformer 30 in the subtractor 500a. Similarly, the difference calculator 510 subtracts the subtractor 510a. ), The power spectrum information of the beamformer 30 is subtracted from the power spectrum information of the beamformer 31, and the results are input to the coefficient converting unit 501 and the coefficient converting unit 511, respectively. The coefficient converting unit 501 and the coefficient converting unit 511 are blocks for separating left and right sounds, respectively, and output spectral information as a signal from a desired direction, each of which has a value equal to or greater than a threshold value. . Here, the threshold value is generally "0", but the optimum value may be obtained from actual measurements and set separately according to the use environment.
Next, with reference to FIG. 1, the operation | movement of the whole sound source separation apparatus system is demonstrated.
First, two non-directional or directional microphones 10 and 11 are provided spaced several centimeters from each other, and the signals emitted from the two sound sources are received by the microphone 10 and the microphone 11. At this time, the frequency analysis is performed by the spectrum analyzer 20 and the spectrum analyzer 21 for the signal in which the two sound source signals received by the microphones 10 and 11 overlap. Although a method such as fast Fourier transform is generally used here, a frequency analysis method such as a filter bank may be used. The frequency analysis process is performed every fixed period of about 10 msec.
The two signals analyzed for frequency are filtered by the beamformer 30 and the beamformer 31, which are squarely symmetrical with respect to the straight line connecting the microphones 10 and 11, so that the signal from the specific direction is attenuated. It is done. However, it is not aimed here at correctly guessing the direction of a specific sound source arrival and making it square to the correctly guessed sound source direction. Filtering using these two channels of input is performed for each frequency component, and the outputs of the beamformer 30 and the beamformer 31 are converted into spectral power information by the power calculator 40 and the power calculator 41. The phase information Φ 1 and Φ 2 are extracted from the phase extractor 60 and the phase extractor 61 from the outputs of the beam former 30 and the beam former 31. Next, the outputs of the beamformer 30 and the beamformer 31 converted into the spectral power information by the power calculator 40 and the power calculator 41 are the target sound spectrum extraction unit 50 and the target sound spectrum. The power spectrum information of the sound source signal sent to the extraction unit 51 from the right direction (0 to 90 °) is extracted by the target sound spectrum extraction unit 50, and the left direction ( Power spectrum information of the sound source signal from -90 ° to 0) is extracted.
When the power spectrum information extracted from the target sound spectrum extraction unit 51 is used as a preprocess of the speech recognition process, the power spectrum information is sent to an acoustic parameter analysis unit (not shown), and the acoustic analysis process is performed. On the other hand, when it is necessary to return the power spectrum information of the extracted sound source signal to the time signal, the phase information extracted by the phase extraction unit 60, the phase extraction unit 61, the target sound spectrum extraction unit 50, and the target sound spectrum The spectrum information extracted by the extracting unit 51 is input to the time waveform converting unit 70 and the time waveform converting unit 71 so as to return the time signal information.
[Design example of square beam former]
Next, in the beam former 30 and the beam former 31 in the beam former 3, a square is formed at a position symmetrical with respect to the straight line connecting the two microphones 10, 11, thereby providing a directivity characteristic. It is proved that (directionality) is not affected by the sensitivity of the microphone element.
In the case of using two microphone elements, as shown in Fig. 6, the design of a square beam former in which gain for the target orientation θ 1 is 1 and one square (gain 0) is formed in the other direction θ 2 is shown. An example is described below.
S (f) = [s 1 (f), s 2 (f)] 'output signal of the square beam former, and X (f) = [x 1 (f), x 2 (f)]' In this case, the weighting coefficient vector W (f, θ 1 , θ 2 ) = [w 1 (f), w 2 (f)] of the square beam former at an arbitrary frequency f can be obtained by the following calculation. ('Stands for transposition).
On the other hand, as shown in FIG. 7, when setting the objective direction and square direction to the position which is line symmetry with the position shown in FIG. 6 centering on the straight line which connects two microphones 10 and 11, The weighting coefficient vectors W (f, -θ 1 , -θ 2 ) = [w 1 (f), w 2 (f)] 'can be obtained by the following calculation.
Each weighting coefficient is a complex conjugate.
Next, the power calculation units 40 and 41 and the target sound spectrum extraction units 50 and 51 derive the directivity characteristics. In order to calculate the directivity characteristic, the weight vector W and the orientation vector V are defined by the following equation.
Then, the directivity of the power calculation section 40 outputs ps 1 (ω), the power calculation unit 41 outputs ps 2 (ω) of a can be expressed as follows.
However, * represents a conjugate operation and H represents a conjugate transposition operation. From this, the output dr 1 (ω) of the difference calculation unit 500 in the target sound spectrum extraction unit 50 can be obtained as follows.
Here, α is introduced as a parameter representing the variation in the element sensitivity of the microphone, and it is assumed that the element sensitivity of one microphone is α times the element sensitivity of one microphone. At this time, since one microphone output is equal to α times and the weight multiplied by one channel is equal to α times, it is assumed that w 2 = αw org2 in consideration of fluctuations in the microphone element sensitivity.
Even if the microphone element sensitivity is changed, the directivity characteristic is not changed.
In this case, when the sound source is sufficiently spaced apart from the microphone, that is, in the case of plane waves, the azimuth vector V is
In the end, because it is expressed as
Becomes However, the above-described method retains the same properties even in the case of spherical waves.
Fig. 8 shows the case of designing a constraint condition for maintaining the gain of the beam formers 30 and 31 at a position (± 45 °) symmetric to the water line when forming a square in the direction of ± 45 ° from the water line. This is an example of the orientation characteristic of the difference result. As can be seen from Fig. 8, from the right direction (the right direction when the directions of the sound sources R1 and R2 are seen from the microphones 10 and 11, the same as below) (0 to 90 °) with the 0 ° direction as a boundary. The ON sound source signal takes a positive value, and the sound source signal coming from the left direction (-90 ° to 0) takes a negative value. As a result, it is possible to determine which of the left and right directions is reached in each frequency component.
[Experimental Results of Orientation Characteristics]
As described above, the above-described processing is performed by using the weighting coefficients used in the multipliers of the beamformer 30 and the beamformer 31 in the relation of complex conjugates, whereby the directional characteristics of the array microphones are determined by the element sensitivity of the microphone. In order to show that this effect is not affected, Fig. 9 shows an example in which the directivity characteristic is calculated by varying the element sensitivity difference? Of the microphone to 0db, + 6db, -6db. Although the directivity characteristic of the direction symmetrical with respect to the straight line which connects the microphones 10 and 11 is not shown in FIG. 9, the directivity characteristic has the characteristic which is symmetrical with the characteristic shown in FIG. As can be seen from Fig. 9, when there is a change in gain, a change in the output level of the array microphone occurs, but the directivity characteristic is not changed. This makes it possible to realize stable directing characteristics even when an inexpensive microphone is used and there is a variation in the element sensitivity of the microphone. In addition, although the directivity characteristic shown in FIG. 9 created the square in the +/- 45 degree direction, since the directivity characteristic has a width | variety as can be seen from FIG. 9, it is not necessary to create a blind spot exactly with respect to an actual target sound source. In addition, although the directivity characteristic of the beam former alone when the element sensitivity difference α of the microphone is changed to 0db, + 6db, and -6db is shown in FIG. 10, when the element sensitivity of the microphone differs from 6db, the blind spot is changed in a specific direction. It can be seen that the desired operation desired for the beam former to be formed can hardly be performed. On the other hand, as a feature of the present invention, most notably, even if a beam former having a deterioration in directivity such that the directivity as shown in FIG. 10 is used is used, the resulting directivity is uniform in the device sensitivity of the microphone. Same thing as the case.
Since the method of forming a sharp square by the beam former in a specific direction is theoretically feasible even with a small number of micrometers, the measured signal is referred to a generalized sidelobe canceller which is used to increase the SN ratio or is frequently used as an adaptive filter. Although used in the blocking matrix portion as a signal generator, the blind spots cannot be generated according to the design sensitivity due to the difference in device sensitivity of the microphone described above, and in the case of mass production, a large factor that cannot achieve a predetermined performance in a real environment. Being one of.
FIG. 11 shows an example in which the directivity characteristic of 360 degrees is obtained using such a sound source separation device 1. As can be seen from FIG. 11, the sound source separation device 1 has a directivity characteristic every 180 °, and the two directivity characteristics are separated without overlapping at their boundaries. In addition, it is an additional feature that the directivity is not affected by the element sensitivity of the microphone. In the case of the linear array, it becomes the directivity characteristic which becomes symmetrical with the characteristic from 0 to +/- 90 degree at +/- 90 degree or more. In this way, the directivity characteristic can be divided into two zones with a line drawn perpendicular to the line connecting two microphones.
Examples using this characteristic are shown in Figs. 12 and 13. 12 is an application to a voice memo device. Conventionally, a voice memo device has been used for the purpose of a memo of a meeting during a meeting or consultation. In the case of such a use case, since the surrounding noise and two voices are recorded simultaneously, it may be difficult to understand what was recorded. In such a case, the two microphones 10 and 11 are directed toward the two talkers, respectively, so that the contents of each painting are emphasized and recorded in the sound source separating apparatus 1, thereby making it easier to listen later. By using the sound source separating device 1 as described above, it is possible to separate and collect two opposite voices, and to use them as voice memos for the minutes of the meeting or to simultaneously recognize two conversations individually in the minutes of the meeting. It becomes possible.
It is a figure which shows the example of application to the simple hands free apparatus and the microphone for a speech recognition apparatus. In recent years, Internet meetings and the like have been conducted using a personal computer (hereinafter, referred to as a "personal computer"). However, when conducting Internet meetings using a personal computer at home, there is no echo canceller function inside the personal computer. For this reason, measures have been taken to reduce the amount of echo coming back from the speaker voice to the microphone using a headset microphone, but it is hardly accepted that the apparatus is closely attached to a part of the body like the headset microphone. As a countermeasure, it is also possible to mount the echo canceler function as software inside the personal computer or to connect a hands free device incorporating the echo canceler function outside the personal computer. When the echo canceller function is implemented inside the personal computer, it is necessary to synchronize the reproduced voice to the speaker and the input voice from the microphone, but the delay between the reproduced voice and the input voice is large and delayed for each personal computer model. There are mounting problems, such as the different sizes. Moreover, it costs cost when the hands-free device which incorporates the echo canceller function externally is connected.
On the other hand, in this embodiment, although the microphones 10 and 11 need to be placed between the speaker and the talker, there is no need to synchronize with the speaker reproduction signal. Since two microphones 10 and 11 are prepared, the signals from the microphones 10 and 11 can be acquired by the personal computer, and sound source separation can be performed based on the software stored in the personal computer. .
In addition, it is conceivable to use a voice command toward a television or other controlled device as an environment most frequently occurring in a situation where speech recognition is performed in a house. In this case, a speaker of a television or other controlled device is provided from the controlled device side toward the talker side, and in the situation where voice is flowing from the speaker or various guidance flows, the talker inputs a control command to the microphone device by voice. There are cases when you want to. In this case, it is necessary to attenuate the amount of the speaker's voice returning to the microphone device by any means, but by using the sound source separating device 1, it is possible to easily separate the voice from the controlled device and the voice from the talker. Therefore, speech recognition performance is improved.
[Evaluation Experiment Result]
Next, the evaluation experiment result is demonstrated. Background Art Conventionally, speech recognition is used for device control and other purposes in automobiles. Background Art Conventionally, a technique for reducing noise such as air blowing noise, road noise, engine sound, etc. of an air conditioner has been established, but a speech recognition technique that is not affected by voice or the like is not established. On the basis of these, it becomes important to provide a speech recognition technology that enables the following points to be realized. (1) separation of voices made by the driver in the driver's seat and voices made by the passenger's seat in the passenger seat (hereinafter referred to as the "voice of the driver's seat and the passenger's seat"), (2) movement of the head position, and (3) wide Compatibility of beam width and separation performance, (4) function in a small number of microphones, (5) voice recognition does not impose quietness on the driver or passenger
In order to show the effectiveness of the sound source separating device 1, two speakers were simultaneously uttered in the vehicle, recorded with two microphones, and sound source separation was performed by the sound source separating device, and a speech recognition experiment was conducted. This sound source separation device was developed for the purpose of separating two sound sources, and as a method of use in an automobile, for example, it is possible to separate sound between a driver's seat and a passenger seat. As an installation place of the microphone for this purpose, as shown in FIG. 14, the center part in a vehicle is suitable like attachment point L1 or attachment point L2. In addition, when it is installed in the attachment location L2, since the room mirror 400 faces a driver side, when attaching a microphone, you may install so that the installation direction of a microphone may be substantially front, and will have the directional control function mentioned later. You may also do it. In the sound source separation device 1, since the beam width is originally wide, accurate alignment is not necessary. In addition, when installing in the attachment location L2, in order to suppress reflection from the back surface, it may be effective to devise a microphone module or to use a directional microphone.
The conditions of the evaluation experiment are shown in FIG. 15, and the results of the speech recognition experiment after sound source separation are shown in FIG. 16. As shown in Fig. 16 (a), when two speakers are ignited in a vehicle (simultaneous ignition in the vehicle), 29% (when stopped) and 27% (at 60 km) when untreated by the conventional method 1 using only one-channel microphone. / h driving), but by adapting the sound source separation method, it is improved to 78% (stopping), 78% (60km / h driving). In addition, as shown in Fig. 16B, the voice on the front passenger's seat is mistaken for the driver's seat voice, or the voice on the driver's seat is incorrectly used for the passenger's seat voice. When evaluating the ratio of the result, the speech recognition result was output for 93% of the total speech (7% rejection performance) when using a conventional one-channel microphone alone. In the case of adaptation, it was 0% (the rejection rate 100%) that any speech recognition result was output. As a conventional example using two microphones, a "noise component suppression processing apparatus and a noise component suppression processing method (Patent No. 3484112)" was performed as a conventional method 2 in performance comparison in the stationary state. The conventional method 2 performs an adaptive beamforming process to estimate the target sound and the direction of noise arrival, to emphasize the target sound and the noise, and to spectral subtract the signal in which the noise is emphasized from the signal with the target sound in the frequency domain. In order to eliminate the influence of the estimation error, the direction of arrival of both the target sound and the noise is known (to come from the fixed direction), and after the optimum value of the adaptive beam former is obtained, the target sound (speaker 1) and the noise (speaker 2) are determined. At the same time, a process of reproducing and extracting a target voice was performed (see FIG. 16A).
Next, 2nd Embodiment is described. 17 shows a configuration of a sound source separation system according to the second embodiment. In the first embodiment described above, the inputs from the microphones 10 and 11 are first converted into frequency components by the spectrum analyzer 20 and the spectrum analyzer 21. A squarer is generated in the former 80 and the beam former 81 to generate a signal attenuating the signal from a specific direction of arrival, and then converted into a frequency component in the spectrum analyzer 20 and the spectrum analyzer 21. Doing. In addition, in FIG. 17, the same number is attached | subjected to the thing which has the same function as FIG. The configuration of the beamformer 80 and the beamformer 81 is realized by executing filter processing configured in the form of an FIR filter or the like as shown in FIG. At this time, the coefficient of an FIR filter can be calculated | required by converting the weighting coefficient which has a relationship of the complex conjugate in the frequency domain shown in FIG. 3 into the filter coefficient of a time domain.
Next, 3rd Embodiment is described. 19 and 20 are diagrams showing the configuration of a sound source separation system according to the third embodiment. As described above, the target sound spectrum extracting unit 50 and the target sound spectrum extracting unit 51 shown in FIGS. 1 and 17 are realized in the configuration shown in FIG. The sound source separation processing is performed using the value. On the other hand, as shown in Fig. 8, dr i (ω) (i = 1, 2), which is the output of the difference calculation units 500 and 510 in the target sound spectrum extraction units 50 and 51, is centered on the front 0 °. It can be seen that the relationship is point symmetry. From this, when the thresholds are set to " 0 " in the coefficient converting units 501 and 511 in the target sound spectrum extracting units 50 and 51, only the sign of the difference calculating units 500 and 510 is viewed. Extracted as power spectrum information of a sound source signal from a direction (0 to 90 °), and extracted as power spectrum information of a sound source signal from a left direction (-90 ° to 0) when negative. For this reason, the whole structure shown in FIG. 1 and FIG. 17 can be simplified as shown to FIG. 19 and FIG. The target sound spectrum extraction unit 90 in Figs. 19 and 20 is realized with the configuration shown in Fig. 21.
In FIG. 21, the power spectrum information of the beamformer 30 and the beamformer 31 calculated by the power calculator 40, the power calculator 41 is calculated as a difference calculator inside the target sound spectrum extractor 90. Entered at 900. Subtraction processing is performed by the subtractor 900a, and only the sound source signal from the target direction is extracted by the coefficient converter 910 and the coefficient converter 920, respectively. Specifically, the coefficient converter 910 is a block for extracting sound sources from the right direction (0 to 90 degrees). When the input is positive, the spectral information is in the right direction (0 to 90 degrees). If output is negative, the output is negative, and if it is negative, it is not output as spectrum information of a sound source coming from outside the target direction. On the other hand, the coefficient converting unit 920 is a block for extracting sound sources from the left direction (-90 ° to 0). When the input is negative, the spectral information is leftward (-90 ° to 0). If the signal is positive, the signal is output as spectral information of the sound source coming from outside the target direction. By the above operation, it becomes possible to separate the sound source signal which comes from the left-right direction centering on the rectilinear line which connects the two microphones 10 and 11. As shown in FIG.
In addition, the sound source separation system shown in FIG. 19 and the sound source separation system shown in FIG. 20 differ in configuration as to whether beamformer processing is performed in the frequency domain or the time domain. In FIG. 19, the beam former process is performed in the frequency domain, and FIG. 20 is performed in the time domain.
Next, 4th Embodiment is described. FIG. 22 is a diagram illustrating a configuration of a sound source separation system according to the fourth embodiment. 22. The spectral subtractors 100 and 101 shown in FIG. 22 have normal noises and diffusions of unknown direction of direction superimposed on the respective target sounds extracted by the target sound spectrum extracting unit 50 and the target sound spectrum extracting unit 51. A spectral subtraction process is performed to remove noise and the like. Such a configuration is effective even when used in an environment where air conditioning in a conference room, a fan sound such as a projector, or the like exists, but is particularly effective when used in an automobile. For example, the driver's seat and the passenger seat's voice can be taken out separately by using the above-described method, for example, when a passenger is riding in a driver and a passenger seat in a car. However, the direction of arrival and the diffuse noise of air conditioner blowing air, road noise, wind blowing sound, etc. cannot be removed by the method mentioned above. The influence of these noises can be eliminated by putting the spectral subtraction process at the end of the process. In the spectral subtraction process, an input section of one microphone is used to detect an utterance section, estimate a noise spectrum in the non-uttering section, and scale and subtract the noise component estimated previously in the uttering section, and noise There is a type in which the spectrum of a signal in which noise is included in the dominant signal is scaled and differentiated from the signal in which the dominant signal and the voice are in the dominant signal. In the case of speech recognition, a process based on one microphone is often sufficient, but this embodiment employs this, and the sound source separation system according to the present embodiment provides a sound source separation system according to the first embodiment. The speech section detection unit 110 and the spectral subtraction units 100 and 101 are newly added.
In Fig. 22, the sound source R1 and the sound source R2 are the target sounds, and the sound source R3 represents normal noise or diffuse noise of unknown direction of arrival. Most of these noises do not have a clear directivity. In the case of such noise, the weak sound directivity at the output of the target sound spectrum extractor appears in the target sound spectrum extractor which extracts the sound source in the direction, and the non-directivity or the impact sound on the road joint is not included. In many cases, these noises can be removed by the spectral subtractors 100 and 101, although they are detected alternately in the extracted spectrums on the left and right. In addition, as a spectral subtraction, you may use the continuous spectral subtraction which does not need to detect a ignition section.
Next, a fifth embodiment will be described. 23, the structure of the sound source separation system which concerns on 5th Embodiment is shown. In this embodiment, the countermeasure is described when the two target sound sources R1 and R2 to be separated are greatly deviated from the position symmetrical with respect to the repair line on the straight line connecting the two microphones 10 and 11. . In the present embodiment, the two direction sound sources R1 and R2 estimated by the arrival direction estimating unit 120 and the direction of arrival estimating unit 120 for detecting the approximate positions of the two target sound sources R1 and R2 for this countermeasure. Using the approximate sound source direction of arrival, the two target sound sources R1 and R2 to be separated by the directivity control unit 140 are symmetrical with respect to the straight line connecting the two microphones 10 and 11 as virtually as possible. The delay operation is given to one microphone input so that
FIG. 24 shows a situation in which the two sound sources R1 and R2 are symmetrical with respect to the straight line rotated by θτ with respect to the straight line connecting the microphone 10 and the microphone 11. In such a case, by giving a constant delay amount tau d to the signal acquired by one microphone, the situation equivalent to rotation by θτ can be realized. In addition, the filter parameters of the beamformers 30 and 31 that are optimal for separating the two sound sources from the positional relationship of the straight line connecting the two microphones to two sound sources in advance are prepared. Based on the advent direction information of the two sound sources from the advent direction estimator 120, the filter parameters of the beamformer which are considered to be optimal for separating the two sound sources of the current situation are selected in the beamformer control, The filter parameters of the selected beam former may be set in the beam former 30 and the beam former 31.
25 shows an example of the configuration of the directivity control unit 140. The configuration example shown in FIG. 25A shows an example of applying a constant delay amount? D to a signal acquired by one microphone for each frequency component in the frequency domain. In the configuration example shown in FIG. 25A, the delay operation is realized by multiplying e − j ωτ in the multiplier 100a with respect to x 1 (ω). In the case where the beam former is to be performed in the time domain, the filtering process may be performed by the retarder 100b of the FIR filter type as shown in FIG. 25B.
Instead of providing a delay to one microphone input, half of the delay may be applied to both microphone inputs to realize the same amount of delay operation as a whole. In other words, rather than giving the delay amount τd to the signal acquired by one microphone, the delay amount τd / 2 to the signal acquired by one microphone and the delay amount -τd / 2 to the signal acquired by the other microphone, The total delay difference may be tau d.
Next, a sixth embodiment will be described. FIG. 26 is a diagram illustrating a configuration of a sound source separation system according to the sixth embodiment. The sound source separation system according to the present embodiment has a configuration for focusing on hearing, and considers application to a hands-free call in an automobile and the like. When the driver and the passenger seating passenger are in the car, for example, the voices of the driver's seat and the passenger's seat can be taken out separately by using the above-described method. The direction of arrival such as sound is unclear and diffuse noise cannot be removed by the above-described method. In these cases, as described in the fourth embodiment, it is possible to eliminate the influence of these noises by putting the spectral subtraction process at the rear end of the process, which is optimal for applications that do not have a problem with sound quality of hearing and hearing such as speech recognition. However, when used in a microphone or the like for a hands free communication device, there is a case where the residual noise of the noise called the auditory musical noise is a problem.
In the present invention, in order to separate the left and right sound centering on the rectilinear line connecting two microphones 10 and 11, in the case of noise such that the directivity of the sound such as diffuse noise constantly fluctuates, As a result of the separation, it may be classified irregularly and degrade the sound quality.
For this reason, in this embodiment, the post-filtering process normally used after the array microphone processing is put in front of the beamformer process by using the sound source separation method which is not affected by the time variation of the microphone gain. In addition, diffuse noise, normal noise, and the like are reduced, and the occurrence of musical noise after separation of the sound source is prevented.
Next, 7th Embodiment is described. FIG. 27 is a diagram illustrating a configuration of a sound source separation system according to the seventh embodiment. This sound source separation system has shown the structure which isolate | separates three sound sources using three microphones 10, 11, and 12. As shown in FIG. In Fig. 27, using the microphone 10 and the microphone 12, the microphone 11 and the microphone 12, the left and right sound source signals are separated by centering on the rectilinear lines connecting the two microphones, respectively, Using the total of four sound source signals separated using two sets of microphones, the sound source R3 finally separates the sound source R3 coming from the front side near the microphone 10 and the microphone 11 in the target sound extraction unit 160. .
Referring to Fig. 28, sound sources separated in this configuration will be described. As shown in Fig. 28, sound sources coming from the left and right sides of the repair line will be centered on the repair line a and the repair line b connecting two microphones. It becomes possible to separate. In FIG. 28, assuming that a sound source exists in each of the zones A, B, and C, the repair signal a can be used to separate the sound source signal from the zones of zones A, B, and C. In this way, sound sources coming from zones A, B and C can be separated. In Fig. 27, the blocks that perform these separations are the separating section b0 and the separating section b1. Separation section b0 is a sound source signal S A (ω) from the zone of zone A, a sound source signal S Bmix (ω), S Cmix (ω) from zones A and B from the signals in which three sound sources are superimposed. Can be separated from the mixed signal, and the separation unit b1 is similarly a signal in which sound source signals S Amix (ω) and S Bmix (ω) are mixed from the zones of zones A and B, and a sound source signal from the zone C zone. S C (ω) can be separated, and in this step, S A (ω) and S C (ω) can be separated. From the four signals thus obtained, S B (ω) can be obtained by performing a predetermined operation in the target sound extracting unit 160 in the power spectrum region. Here, S Amix (ω), S Bmix (ω), and S Cmix (ω) represent respective signals when mixed with other signals.
In the above, it is premised that level D is small even if there is no sound source information or there is no sound source information. However, if there is a sound source in zone D, the three mics 10, 11, and 12 are used to direct directional microphones from zone D. It is possible to greatly reduce the mixing of sound source signals.
Although Fig. 29 shows an example of the installation of a single directional microphone, in general, when the directional microphone is used in this way, the performance at the time of design does not come out due to variations in directivity between the microphones in the beam former of the array microphone. In this way, it is possible to realize a constant performance which is not affected by fluctuations in directivity, just as it is not affected by fluctuations in device sensitivity of the original microphone.
30-32, the processing method in the target sound extraction part 160 is demonstrated in detail. The processing method shown in FIG. 30 is a processing method similar to the two-channel spectral subtraction process. That is, since the sum of the power spectrums of the target sound and the interference sound is also obtained as one channel signal, and the power spectrum of the disturbance sound is also obtained as the other channel signal, the target sound S is subtracted by subtracting them from the subtractor 100a. B (ω) can be found.
In the processing method shown in FIG. 31, since two interference sounds overlapping with the target sound can be found, the power spectrum information of the target sound is doubled by adding them in the adder 101b. The power spectrum of the disturbing sound is obtained by adding the disturbing sounds with the adder 101a, multiplied by the constant factors (OEF 1 to 2) with the multiplier 101c, and subtracting from the output of the adder 101b with the subtractor 101d. By calculating, the target sound is extracted. In addition, since the volume is larger than the original sound signal at the step of the output of the subtractor 101d, the level adjustment unit 101e performs level adjustment.
The processing method shown in FIG. 32 uses the minimum value calculation 102a, 102b instead of the adders 101a and 101b shown in FIG. In FIG. 31, O.E.F is often larger than 1.0, and the sound quality is often better. In FIG. 32, O.E.F is preferably around 1.0. In addition, although the minimum value calculation was performed in FIG. 32, the maximum value calculation may be sufficient instead of the minimum value calculation.
In addition, although the position of the target sound source to be separated may be greatly deviated from the position at which the optimum separation performance is obtained in this method, as described in the fifth embodiment, a delay is applied to the input signal output from the microphone to By virtually changing the direction of arrival, it is possible to operate so that the optimum separation performance is obtained as much as possible.
33 shows an example of use of the sound source separation system according to the present embodiment. In the application of the voice input to the personal computer, an example of using the three microphones 10, 11, and 12 to obtain the voice from the front of the personal computer in a small mounting area with directivity is obtained.
Next, an eighth embodiment will be described. In the above embodiment,
(1) Embodiment of separating sound from left and right by using two microphones centered on a straight line connecting microphones (2) Separating sound from front and sound from the left and right using three microphones Although the embodiment was described, as shown in Fig. 34, the sound from the frontal direction of the straight line connecting the two microphones 10 and 11 using the two microphones 10 and 11 is to be separated and extracted. There is a case.
In this case, the directional control means gives a delay to the output signal from one of the two microphones 10, 11 as shown in Fig. 35B, and virtually creates the third channel microphone position. By doing so, it is possible to virtually realize the three microphone input shown in Fig. 35A. FIG. 36 shows a configuration example of the directivity control means for performing the delay operation shown in FIG. In the drawing, Di (i = 1, 2, 3, 4) represents a delay element, but the actual delay operation may be performed in the time domain or may be performed in the frequency domain after spectral analysis.
37 shows a configuration example of a sound source separation device system according to the present embodiment. The directivity control means 141, 142 is comprised from the spectrum analyzer 20, 21 and the delay element which performs a delay process. As the processing order, the delay process may be performed after the spectrum analysis process (Type1 in the drawing), or the spectrum analysis process may be performed after the delay process (Type2 in the drawing). The output signal of the directivity control means 141, 142 is processed by the beam former 30, 31, the power calculating part 40, 41, etc. in the block after this method NBF, and the signal after a process is a target sound extraction part. It is input to 52.
38 and 39 show an example of the processing method in the target sound extraction unit 52. Figure 38 is, θ 1 and θ 2 have a microphone (11, 12) with respect to the perpendicular of the straight line connecting shows an example of a processing method in the case of symmetrical angle, Fig. 39, θ 1 and θ 2 is the repair An example of the processing method when the angle is not symmetric with respect to is shown.
Next, a ninth embodiment will be described. 40 is a diagram illustrating a configuration of an on-vehicle device control voice recognition system according to a ninth embodiment. In the present embodiment, an example in which the sound source separation device 1 according to the present invention is applied to a voice recognition system for controlling on-vehicle devices installed in a vehicle such as an automobile is shown. In this application example, the voices of the driver's seat and the passenger's seat are acquired by two microphones 10 and 11, the sound of the driver's seat and the passenger's seat is separated by the sound source separating device 1, and the separated voices of the driver's seat and the passenger seat are uttered, respectively. Improvement of the reliability of the on-vehicle device control voice recognition system by performing control of the device, response of the system, etc. using only detection, voice recognition processing, voice recognition results, and valid recognition results in accordance with the driving state or other driving conditions. It is to provide an extension of the freedom of response of the voice recognition system for on-vehicle device control.
The voice recognition system for on-vehicle device control is data characteristic of this system, and includes a passenger seat side recognition vocabulary list 190, a driver's seat recognition vocabulary list 191, a passenger seat side effective vocabulary listener 210, and a driver's seat in the storage device. The side valid vocabulary list 211 is stored. The driver's seat recognition vocabulary list 191 is a list of candidates for the vocabulary issued from the driver's seat side, and the passenger seat recognition vocabulary list 190 is a list of candidates for the vocabulary issued from the passenger side. The driver's seat valid vocabulary list 211 is a list of valid vocabularies on the driver's seat side according to the vehicle state (car driving state or other driving state). The passenger seat side valid vocabulary list 210 is a valid vocabulary list on the passenger seat side according to the state of the vehicle. Here, "valid" means a state in which a control command according to a vocabulary (voice command) is allowed to be output.
The operation of the system will be described with reference to FIG. 40. The voices uttered by the driver and passengers of the driver are picked up by two microphones 10 and 11, and are separated into voices of the driver's seat and the passenger seat by the sound source separation device 1. After that, it is input to the utterance section detectors 170 and 171 and the voice recognition units 180 and 181 prepared for the driver and the passenger seat, respectively. At this time, since the two voices are accurately separated at the output of the sound source separation device 1 according to the present invention, the passenger-side ignition section detection unit 170 and the driver's side ignition section detection unit 171 determine the ignition sections of both. The voice can be separated with high accuracy and the information on the passenger's voice recognition unit 180 and the driver's seat voice recognition unit 181 can be given information suppressed by the opponent's speech, and thus the voice is not affected by the opponent's speech. The recognition process can be performed with high precision.
In this application example, the front passenger side recognition vocabulary list 190 and the driver side recognition vocabulary list 191 for instructing each of the voice recognition units 180 and 181 to recognize which vocabulary are to be recognized regardless of the state of the system, respectively. Each of the voice recognition units 180 and 181 performs voice recognition processing in accordance with this lexical list, and outputs the voice recognition result to the control unit / state transition unit 200.
The state transition unit 201 included in the control unit / state transition unit 200 is capable of transition to the next state based on the voice recognition result and the current state. In the control unit 202 included in the control unit / state transition unit 200, the assistant passenger side is based on the current state obtained from the state transition unit 201 and the voice recognition results from the voice recognition units 180 and 181. Based on the driver's seat valid vocabulary list 210 and the driver's seat valid vocabulary list 211 prepared for each driver's seat, which voice command should be responded to (control command output). The valid vocabulary lists 210 and 211 shown in Fig. 40 show that the voice command can be responded when " o " is associated with the combination of the state and the voice command. For example, on the driver's seat side, the voice command that is allowed to respond when the status is " driven " is " more, " " light up ", " cool " MD "is prohibited.
Then, the occupant of the vehicle can comfortably stay in the vehicle by performing control of operating the air conditioner or turning on the light in response to only the allowed voice command. In addition, it is possible to increase the reliability of the on-vehicle device control voice recognition system and to provide more freedom in specification design for creating an application using voice recognition.
According to the use example described above, it is possible to simultaneously recognize voices uttered simultaneously from the driver and passenger seat passengers, or reliably detect whether the speech is from the driver's seat or the passenger's seat even when one person speaks. Since it becomes possible to recognize, it is possible to individually design a speaker and a response to the voice command of the speaker without limiting the behavior of the passenger.
Next, a tenth embodiment will be described. FIG. 41 shows a mobile phone 300 according to the present embodiment. The cellular phone 300 is equipped with microphones 10 and 11 and a sound source separating device (not shown). The mobile telephone 300 is usually for a video telephone, but can also be used as a micro switch by switching modes. FIG. 41A is a diagram showing the state when the microphones 10 and 11 are operating as the video telephone microphone, and FIG. 41B is the microphones 10 and 11 operating as the microphone. It is a figure which shows the state of time. In a medium-sized conference room or the like, the conference room is not large enough for the presenter to use the microphone. However, if the room is large and small, the presenter's sound can be used in a difficult scene.
As described above, at least two microphones are spaced apart from each other, and a square is formed by a beam former in a time domain or a frequency domain at a symmetrical angle with respect to a straight line connecting two microphones, In the case of creating a square in the area, it is converted into the frequency domain, the difference between the power spectrums of the beamformers of both beams is calculated, and the coefficient conversion of the obtained result is performed to obtain a directivity characteristic having a width around the left and right squares. It becomes possible to form and isolate a sound source. In this way, the property that the directivity characteristic is not affected by the element sensitivity of the microphone can be realized, and it is appropriately not only affected by the fluctuation of the element sensitivity of the microphone, but also as a deviation from the assumed direction of the sound source arrival direction and a large initial reflection. Covered by a wide range of directivity characteristics, it becomes possible to realize stable separation characteristics of two sound sources.
Next, the eleventh embodiment will be described. FIG. 42 illustrates the purpose of zone A under the situation in which the target sound to be extracted exists in zone A (for example, the driver's seat) and the disturbance sounds exist in other places (zones B, Zone C, and Zone D). An example of extracting sound is shown. In the case of using the array microphone 2001 (e.g., placed forward in the cabin (e.g. set in the room mirror)) using the method, zone A / C (e.g., the zone of the driver's seat and the rear seats) and It is possible to separate the sounds that exist in zone B / D (e.g. in the passenger seat and in the rear seats), but in zones A (e.g. in the driver's seat) and in zone C (e.g. You can't separate existing sounds. However, by placing the array microphone 2002 using the present method at the position of the boundary between the zone A / B and the zone C / D as shown in Fig. 42, the sound existing in the zone A / B and the zone C / D is separated. It becomes possible to extract only the sound of zone A.
Specifically, when the talkers A, B, C, and D in zones A, B, C, and D fire at the same time, the array microphone 2002 disposed at the boundary between zones A / B and Zone C / D is first used. By using it, it becomes possible to separate the sound from zone A / B and the sound from zone C / D. Next, the sound from zone A / C and the sound from zone B / D can be separated by the array microphone 2001. Finally, the sound from zone A / C obtained using the array microphone 2001 and the sound from zone A / B obtained using the array microphone 2002 are compared in each frequency domain to determine the frequency components common to both. It is possible to separate as the sound from zone A. By the same process, the sounds from each of zones B, C, and D can also be obtained separately.
Next, a twelfth embodiment will be described. Fig. 43 assumes a situation in which device operation is performed by voice recognition in an environment such as an automobile. Fig. 44 shows the relationship between the guidance voice of the device operation at that time and the voice of the talker.
In such a case, a guidance sound such as "tell me the destination" flows from the speaker 15 for the purpose of prompting the timing of the utterance of the talker A, and then a sound such as a mechanical sound, for example, "beep", flows, and then the talker. A utters a voice command. However, as the user becomes accustomed to operating the device by the voice command, as shown in Fig. 44, a situation occurs in which the speaker A starts to speak during the guidance voice, which is a factor that degrades the voice recognition performance. It is becoming.
As a countermeasure for such a situation, generally, an echo canceller is used to adaptively estimate and remove the guidance voice mixed in the recording sound from the microphone 10. As another countermeasure, as shown in Figs. 45 to 48, spectral subtraction is performed on one input signal to the microphone 10 after the frequency analysis (Figs. 45 and 46), or the guidance voice for each frequency component. By estimating which of the voices of the talker A is included in a large amount, only the frequency component including only the voice of the talker A is extracted as the voice of the talker A (Figs. 47 and 48).
45 and 47, the filter unit 1001 is a filter simulating an acoustic reflection path from the speaker 15 to the microphone 10, and is obtained from the speaker 15 to the microphone 10 previously obtained. The impulse response of may be used, or may be dynamically obtained by adaptive filter processing.
In FIG. 45, the gain operation unit 1002 determines an oversubtraction factor used when performing spectral subtraction, and selects and uses about 1 to 10 gains depending on the volume of the speaker 15.
In addition, in FIG. 45, the target audio | voice extraction part 1003 performs the process as shown in FIG. 46 based on the output of the gain operation part 1002 and the spectrum analysis part 21, and receives the signal of a process result. The output is output to the time waveform converter 1004.
In FIG. 47, the threshold calculator 1011 determines the threshold value th based on the average energy of the guidance speech.
In addition, in FIG. 47, the target speech extraction unit 1012 performs the processing as shown in FIG. 48 based on the outputs of the threshold calculation unit 1011 and the spectrum analyzer 21, and the processing result. Signal is output to the time waveform converter 1004. In addition, th min shown in FIG. 48 becomes a threshold value for determining that X Far ((omega)) shown in FIG. 48 is a valid input.
In addition, the time waveform conversion part 1004 performs the same process as the time waveform conversion parts 70 and 71 in 1st Embodiment.
However, in the conventional method, as shown in FIG. 43, in the situation where only the talker A is ignited, the above-described configuration can be used. However, as shown in FIG. For example, when there is a passenger seat occupancy), as shown in Fig. 50, not only the talker A but also the talker B may make some speech, but such a situation cannot be handled.
Such a situation can be coped with by combining the present method and the guidance voice deletion units 1021 and 1022 shown in FIG. 45 or 47 as shown in FIG.
Specifically, in Fig. 51, the guidance voice is reproduced from the speaker 15 in the vehicle, and at the same time, both the talker A and the talker B are uttered, the microphone 10 and the microphone 11 have the guidance voice and the talker A. The speech voice and the speech B of the speaker B are superimposed and input. At this time, the guidance voice deleting unit 1021 and the guidance voice deleting unit 1022 remove the guidance voice by the method shown in Fig. 45 or 47, and as a result, both the voice of the speaker A and the voice of the speaker B are consequently removed. Outputs the overlapping signal as a result. In addition, in order to eliminate the waste of calculation at the time of input to this method used as a post-processing, it inputs into this method (FIG. 1) as it is without returning to a time waveform. Since the frequency component information is also input as the input in the latter method, the processing of the spectrum analyzer is omitted, the input is directly input to the beam former, and the processing is performed by applying the present method. It is possible to obtain B voices individually, thereby significantly increasing the reliability, performance, and freedom of application of the voice recognition device.
In addition, by the combination of the various functions described above and the delay operation of the signal from the microphone, it is possible to realize the directivity narrow in the front direction or to detect only the sound source signal from the specific direction.
In addition, it is possible to secure high separation performance up to the low end even without widening the microphone distance, so that the mounting space can be reduced, and the use in portable devices and the like is also possible.
In addition, although the above-mentioned embodiment demonstrated that each functional block of the sound source separation system is realized by a program, it can also be realized by hardware by using a circuit or the like.
It can be used in all industries that need to accurately separate sound sources, such as voice recognition devices, car navigation systems, sound collectors, recording devices, and control of equipment by voice commands.
A sound source separation device for receiving a mixed sound in which sound source signals emitted from a plurality of sound sources are input to at least two microphones spaced apart from each other, and separating sound source signals from a target sound source from the mixed sound,
A first beamformer process for attenuating sound source signals coming from a predetermined direction is performed by performing calculation using a first coefficient on the output signal from the microphone,
Computation of the output signal from the microphone with the first coefficient and the second coefficient in the complex conjugate in the frequency domain results in symmetry with the predetermined direction with respect to the straight line connecting the two microphones. Beamformer means for performing a second beamformer process for attenuating a sound source signal coming from an in direction;
Power calculation means for calculating power spectrum information for each of the sound source signals obtained by the beam former means;
Target sound spectrum extraction means for extracting spectrum information of the target sound source based on the difference between the power spectrum information calculated by the power calculating means
Sound source separation device comprising a.
The beam former means,
The first beamformer process and the second beamformer process are performed for each of a combination of two microphones and a combination of two other microphones among the three microphones arranged apart from each other.
And directing control means for providing a delay with respect to an output signal from the microphone.
The directivity control means,
A sound source separation device, characterized in that the output signal from three microphones is virtually generated by giving a delay to the output signal from at least one of the two microphones.
Further comprising a direction of estimating means for estimating a direction in which the sound source signal arrives,
On the basis of the arrival direction estimated by the arrival direction estimation means, a delay is given to the output signal from the microphone such that the positions of the two sound sources are symmetrical with respect to the straight line connecting the two microphones virtually. Sound source separation device, characterized in that.
And a spectral subtraction means for performing spectral subtraction processing on the power spectral information extracted by the target sound spectrum extraction means.
And a normal noise reduction means for performing a process for reducing noise before performing the processing by the beam former means.
A speech recognition device comprising speech recognition means for performing speech recognition of sound source signals separated by the sound source separation device of claim 1.
And a recognition vocabulary list storing means for storing a driver's seat recognition vocabulary list which is a list of candidates for vocabulary issued from the driver's seat side of the vehicle and a passenger side recognition vocabulary list which is a list of candidates for vocabulary issued from the passenger side,
The speech recognition means,
And a speech recognition process of the sound source signal separated by the sound source separating device, based on the driver's seat recognition vocabulary list and the passenger seat side recognition vocabulary list stored in the recognition vocabulary list storing means.
State transition means for managing the state of the current vehicle,
Valid vocabulary list storage means for storing a valid vocabulary list on the passenger seat side and the driver's seat side according to the state of the vehicle;
It is determined whether or not the vocabulary recognized by the speech recognition means is valid based on the state of the current vehicle managed by the state transition means and the vocabulary list stored in the valid vocabulary list storage means. Control means for performing control in accordance with the judgment result
Speech recognition device characterized in that it further comprises.
A mobile telephone comprising the sound source separating device according to claim 1.
A sound source signal receiving step of receiving sound source signals emitted from a plurality of sound sources, for at least two microphones spaced apart from each other,
With respect to the output signal from the microphone, calculation is performed using each of two weighting coefficients in the complex conjugate in the frequency domain, thereby coming from a predetermined direction symmetrical with respect to the straight line connecting the two microphones. A beamformer processing step of performing first beamformer processing and second beamformer processing for respectively attenuating the sound source signal;
A power calculation step of calculating power spectrum information for each of the sound source signals obtained in the beamformer processing step;
The target sound spectrum extraction step of extracting the spectrum information of the target sound source based on the difference between the power spectrum information calculated in the power calculation step.
Sound source separation method characterized in that it comprises a.
An output signal acquiring step of acquiring an output signal obtained by mixing sound source signals emitted from a plurality of sound sources from at least two microphones spaced apart from each other;
On the output signal acquired in the output signal acquisition step, calculation is performed using each of the two weighting coefficients in the complex conjugate relationship in the frequency domain, whereby predetermined predetermined symmetry with respect to the straight line connecting the two microphones. A beamformer processing step of performing first beamformer processing and second beamformer processing for respectively attenuating sound source signals arriving from the direction;
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