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US 11,258,478 B1Granted
Autonomously motile device with residual echo suppression
AssigneeAmazon Technologies, Inc.
InventorsSrivatsan Kandadai, Amit Singh Chhetri
Life of this patent
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Abstract
A device capable of autonomous motion includes a residual echo suppressor for suppressing echoes caused by an output reference signal. When the device outputs audio while moving with a velocity, it may receive echoes that are Doppler-shifted due to the motion. The residual echo suppressor generates estimated residual error data based on phase-shifted reference data to account for and suppress the Doppler-shifted echoes.
Claims21
A computer-implemented method comprising:
- outputting reference audio data from a loudspeaker of an autonomously motile device while the autonomously motile device is in motion;
- receiving input audio data from a microphone of the autonomously motile device, the input audio data including a representation of the reference audio data;
- determining speed data representing a speed of the autonomously motile device;
- determining estimated echo data;
- determining, by the autonomously motile device, residual error data corresponding to a difference between the input audio data and the estimated echo data;
- determining, by the autonomously motile device, warped reference audio data based at least in part on the speed data and the reference audio data;
- determining, by the autonomously motile device, estimated residual error data based at least in part on the residual error data, the reference audio data, and the warped reference audio data;
- and
- determining, by the autonomously motile device, output audio data based at least in part on the residual error data and the estimated residual error data.
6 more elements
An autonomously motile device comprising:
- at least one processor;
- and
- at least one memory including instructions that, when executed by the at least one processor, cause the autonomously motile device to:
- output reference audio data from a loudspeaker of the autonomously motile device while the autonomously motile device is in motion;
- receive input audio data from a microphone of the autonomously motile device, the input audio data including a representation of the reference audio data;
- determine speed data representing a speed of the autonomously motile device;
- determine estimated echo data;
- determine residual error data corresponding to a difference between the input audio data and the estimated echo data;
- determine warped reference audio data based at least in part on the speed data and the reference audio data;
- determine estimated residual error data based at least in part on the residual error data, the reference audio data, and the warped reference audio data;
- and
- determine output audio data based at least in part on the residual error data and the estimated residual error data.
9 more elements
A computer-implemented method comprising:
- outputting reference audio data from a loudspeaker of an autonomously motile device while the autonomously motile device is in motion, the reference audio data including human-perceivable audio;
- receiving input audio data from a microphone of the autonomously motile device, the input audio data including speech and a representation of the reference audio data;
- determining speed data representing a speed of the autonomously motile device;
- determining estimated echo data;
- determining residual error data corresponding to a different between the input audio data and the estimated echo data;
- determining warped reference audio data based at least in part on the speed data and the reference audio data;
- and
- determining, by the autonomously motile device, output audio data based at least in part on the speed data, the input audio data, the residual error data, and the warped reference audio data.
5 more elements
Dependencies are inferred from the claim text.