In this work, a Head-Related Transfer Function (HRTF)-based Robust Least-Squares Frequency-Invariant (RLSFI) beamformer design is proposed. The HRTF-based RLSFI beamformer accounts for the influence of a robot's head on the sound field. The performance of the new HRTF-based RLSFI beamformer is evaluated using signal-based measures and word error rates for an off-the-shelf speech recognizer, and is compared to the performance of the original free-field RLSFI beamformer design. The experimental results confirm the efficacy of the proposed HRTF-based beamformer design for robot audition.
['Hendrik Barfuss', 'Christian Huemmer', 'Gleni Lamani', 'Andreas Schwarz', 'Walter Kellermann']
HRTF-based robust least-squares frequency-invariant beamforming