{"id":"https://openalex.org/W2314569260","doi":"https://doi.org/10.1109/ssrr.2015.7442949","title":"Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array","display_name":"Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2314569260","doi":"https://doi.org/10.1109/ssrr.2015.7442949","mag":"2314569260"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2015.7442949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2015.7442949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007353694","display_name":"Yoshiaki Bando","orcid":"https://orcid.org/0000-0002-3934-0745"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoshiaki Bando","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003325000","display_name":"Katsutoshi Itoyama","orcid":"https://orcid.org/0000-0002-7098-3896"},"institutions":[{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katsutoshi Itoyama","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["Graduate School of Information Science, Honda Research Institute Japan Co., Ltd, Miyagi, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Honda Research Institute Japan Co., Ltd, Miyagi, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Science, Honda Research Institute Japan Co., Ltd, Miyagi, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Honda Research Institute Japan Co., Ltd, Miyagi, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091708408","display_name":"Kazuhiro Nakadai","orcid":"https://orcid.org/0000-0002-6134-4558"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Nakadai","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Saitama, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067956319","display_name":"Kazuyoshi Yoshii","orcid":"https://orcid.org/0000-0001-8387-8609"},"institutions":[{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuyoshi Yoshii","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005141184","display_name":"Hiroshi G. Okuno","orcid":"https://orcid.org/0000-0002-8704-4318"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi G. Okuno","raw_affiliation_strings":["Graduate Program for Embodiment Informatics, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate Program for Embodiment Informatics, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5007353694"],"corresponding_institution_ids":["https://openalex.org/I22299242","https://openalex.org/I39012071"],"apc_list":null,"apc_paid":null,"fwci":2.316,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.89694569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11447","display_name":"Blind Source Separation Techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.7660592198371887},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6809666752815247},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6768116354942322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6687898635864258},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6523739695549011},{"id":"https://openalex.org/keywords/spectrogram","display_name":"Spectrogram","score":0.6310624480247498},{"id":"https://openalex.org/keywords/robust-principal-component-analysis","display_name":"Robust principal component analysis","score":0.6126890182495117},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5750383138656616},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5125081539154053},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.46679455041885376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46263402700424194},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4336256682872772},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.4249323010444641},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4240246117115021},{"id":"https://openalex.org/keywords/background-noise","display_name":"Background noise","score":0.42334091663360596},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.410494327545166},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.18452930450439453},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16356101632118225},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11663159728050232},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08234721422195435},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07510897517204285}],"concepts":[{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.7660592198371887},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6809666752815247},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6768116354942322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6687898635864258},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6523739695549011},{"id":"https://openalex.org/C45273575","wikidata":"https://www.wikidata.org/wiki/Q578970","display_name":"Spectrogram","level":2,"score":0.6310624480247498},{"id":"https://openalex.org/C2777749129","wikidata":"https://www.wikidata.org/wiki/Q17148469","display_name":"Robust principal component analysis","level":3,"score":0.6126890182495117},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5750383138656616},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5125081539154053},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.46679455041885376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46263402700424194},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4336256682872772},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.4249323010444641},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4240246117115021},{"id":"https://openalex.org/C100675267","wikidata":"https://www.wikidata.org/wiki/Q1371624","display_name":"Background noise","level":2,"score":0.42334091663360596},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.410494327545166},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.18452930450439453},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16356101632118225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11663159728050232},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08234721422195435},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07510897517204285},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr.2015.7442949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2015.7442949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50503956","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100812286","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W189345193","https://openalex.org/W1973669139","https://openalex.org/W1991642292","https://openalex.org/W2010111831","https://openalex.org/W2024365188","https://openalex.org/W2031583051","https://openalex.org/W2036647862","https://openalex.org/W2039090871","https://openalex.org/W2069432516","https://openalex.org/W2089128721","https://openalex.org/W2090514582","https://openalex.org/W2100820878","https://openalex.org/W2101856597","https://openalex.org/W2109355036","https://openalex.org/W2118550318","https://openalex.org/W2127851351","https://openalex.org/W2133039496","https://openalex.org/W2145962650","https://openalex.org/W2146146065","https://openalex.org/W2146799891","https://openalex.org/W2154992274","https://openalex.org/W2169277222","https://openalex.org/W2251897506","https://openalex.org/W2407685581","https://openalex.org/W2574275340","https://openalex.org/W2919011965","https://openalex.org/W3103998211","https://openalex.org/W6607768639","https://openalex.org/W6682766550","https://openalex.org/W6691247002","https://openalex.org/W6714030504"],"related_works":["https://openalex.org/W2530685530","https://openalex.org/W4375868962","https://openalex.org/W2011227383","https://openalex.org/W1975881626","https://openalex.org/W4252208810","https://openalex.org/W2314569260","https://openalex.org/W2132495960","https://openalex.org/W3036714475","https://openalex.org/W2909545689","https://openalex.org/W2348894302"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,80],"online":[4,69],"real-time":[5],"method":[6,151],"that":[7,92,148],"enhances":[8],"human":[9,41,101],"voices":[10],"included":[11],"in":[12,60,166,170],"severely":[13],"noisy":[14,82],"audio":[15],"signals":[16],"captured":[17,133],"by":[18,54,67,122,134,163],"microphones":[19,146],"of":[20,30,39,57,79,87,112,126,155],"a":[21,27,32,36,40,104,113,139],"hose-shaped":[22,114,141],"rescue":[23,142],"robot.":[24],"To":[25],"help":[26],"remote":[28],"operator":[29],"such":[31],"robot":[33,59,143],"pick":[34],"up":[35],"weak":[37],"voice":[38],"buried":[42],"under":[43],"rubble,":[44],"it":[45],"is":[46],"crucial":[47],"to":[48,95,97,129],"suppress":[49],"the":[50,55,58,77,85,109,124,130,149,153],"loud":[51],"ego-noise":[52,99,116,157],"caused":[53],"movements":[56],"real":[61],"time.":[62],"We":[63],"tackle":[64],"this":[65],"task":[66],"using":[68,138,159],"robust":[70],"principal":[71],"component":[72],"analysis":[73],"(ORPCA)":[74],"for":[75],"decomposing":[76],"spectrogram":[78],"observed":[81,131],"signal":[83,132],"into":[84],"sum":[86],"low-rank":[88],"and":[89,100,168],"sparse":[90],"spectrograms":[91],"are":[93],"expected":[94],"correspond":[96],"periodic":[98],"voices.":[102],"Using":[103],"microphone":[105,162],"array":[106],"distributed":[107],"on":[108],"long":[110],"body":[111],"robot,":[115],"suppression":[117,158],"can":[118],"be":[119],"further":[120],"improved":[121],"combining":[123],"results":[125],"ORPCA":[127],"applied":[128],"each":[135],"microphone.":[136],"Experiments":[137],"3-m":[140],"with":[144],"eight":[145],"show":[147],"proposed":[150],"improves":[152],"performance":[154],"conventional":[156],"only":[160],"one":[161],"7.4":[164],"dB":[165],"SDR":[167],"17.2":[169],"SIR.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
