1. Presentation of the System
Rodolphe Gelin
Public Presentation
Erlangen, Decembre 1st, 2016

2. Overview Aim of the project Means Validation by a B2B scenario
Improve the interaction with NAO in a realistic environment
Means
More microphones (12 instead of 4)
Advanced signal processing
Beamforming
Echo cancellation
Audio-visual fusion …
Advanced behavior
Ego-sphere
Dialog
Validation by a B2B scenario

3. Optimal acoustic positioning of the 12 microphones
Possible localizations
(SBR)
Optimal localizations
(BGU)

4. Optimal mechatronic integration
Microphone
New rubber sock
Preamp
New plastic holder
Wider holes in the shell
Flex
1,5 mm

5. Stereo Vision Head Left camera Right camera Before EARS After EARS
13ms
After EARS
<1ms

6. Principle of the Software Integration
Processed data
Motor control
Audio data
Position sensor
Vision data
USB
Ethernet Hub
Acquisition
Board

7. List of implemented functions
Presentation of the System

8. Principle of the Scenario

9. Demonstrations Play with me Welcome to our hotel
Sound recognition
Welcome to our hotel
Dialog
Visual tracking
Look at me when I am talking to you
DOA
Inside NAO
Egosphere
Audio signal enhancement