Hello ROS community,
We are pleased to announce that our ROS repository for open-source robot
audition software "HARK" is just updated.
http://winnie.kuis.kyoto-u.ac.jp/HARK/
1) Introduction of HARK
HARK provides auditory functions for robots based on microphone array
processing such as sound source localization and separation, and automatic
speech recognition of separated speech.
A user can make a real-time robot audition system by connecting the prepared
modules on a GUI programming environment, Flowdesigner.
So far, we validated its effectiveness by applying HARK to several robot
platforms like HRP-2, Robovie, SIG.
All the documentation (installation instruction, module documents, cookbook,
some tutorials) can be found at the following website:
http://winnie.kuis.kyoto-u.ac.jp/HARK/
2) What are updated?
Recently, HARK 1.1 was released with the following new functions and
improvements.
* Supported new microphone array devices: Microsoft Kinect, Sony
PlayStation Eye, Audio-dev Microcone.
* Released HARK-ROS interface (diamondback, electric, and fuerte)
* Provided deb packages for Ubuntu 10.04 32bit/64bit (apt-get based
installation is available)
* Improved sound source localization by introducing a new algorithm,
GEVD/GSVD-MUSIC
3) What is HARK-ROS interface?
HARK -> ROS
The following are some examples of ROS topics available from HARK:
* Multi-channel raw audio stream
* Multi-channel frequency spectrum after FFT
* Sound source localization result
* Separated audio stream after sound source separation
* Audio features such as MFCC, etc.
* std_msgs type messages
ROS -> HARK
* Subscription of above messages
* Dynamic parameters for audio processing using dynamic_reconfigure
* std_msgs type messages
4) Online Information
* Overview of HARK is available at :
http://www.youtube.com/watch?v=rhBnLySsmJk
* Information of related papers is at :
http://winnie.kuis.kyoto-u.ac.jp/HARK/wiki.cgi?page=Papers
* When you would like to know how HARK works, see our activities at Willow
Garage in 2009 (migration of HARK to Texai)
http://www.youtube.com/watch?v=bi4ACLfaWy0
* Sound follower tutorial using TurtleBot
http://winnie.kuis.kyoto-u.ac.jp/HARK/wiki.cgi?page=HARK-ROS-TURTLEBOT
We hope that you are interested in HARK.
If you have any question, please do not hesitate to send email to
hark-support@kuis.kyoto-u.ac.jp
Best regards,
HARK support team
hark-support@kuis.kyoto-u.ac.jp
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