Patent ID: 8255209

Claim:
A method of eliminating noise in real-time in a mobile robot environment from an input signal containing a voice signal mixed with a noise signal using a processor included in a mobile robot, the method comprising: determining a plurality of candidate sections in which an average energy of the input signal increases continuously over time, and a number of points at which a difference between average energy in a short section and average energy in a long section of the input signal exceeds a first critical value that is greater than a predetermined number; generating covariance matrices by using signals of the plurality of candidate sections; determining whether each of the candidate sections is a noise section in which no voice signal and only the noise signal is present; storing the covariance matrices of the plurality of candidate sections determined as the noise sections and accumulating the covariance matrices until it is determined that a predetermined amount of data is accumulated; using the processor included in the mobile robot to decompose the accumulated covariance matrices into eigenvalues; obtaining an eigenvector corresponding to a minimum eigenvalue among the eigenvalues generated by decomposing the accumulated covariance matrices; determining the obtained eigenvector as a weight; and filtering the input signal using the weight.