Real-Time Audio-to-Score Alignment Using Particle Filter for Coplayer Music Robots
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Research Article Real-Time Audio-to-Score Alignment Using Particle Filter for Coplayer Music Robots Takuma Otsuka,1 Kazuhiro Nakadai,2, 3 Toru Takahashi,1 Tetsuya Ogata,1 and Hiroshi G. Okuno1 1 Graduate
School of Informatics, Kyoto University, Kyoto 606-8501, Japan Research Institute Japan, Co., Ltd., Wako, Saitama 351-0114, Japan 3 Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Tokyo 152-8550, Japan 2 Honda
Correspondence should be addressed to Takuma Otsuka, [email protected] Received 16 September 2010; Accepted 2 November 2010 Academic Editor: Victor Lazzarini Copyright © 2011 Takuma Otsuka et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Our goal is to develop a coplayer music robot capable of presenting a musical expression together with humans. Although many instrument-performing robots exist, they may have difficulty playing with human performers due to the lack of the synchronization function. The robot has to follow differences in humans’ performance such as temporal fluctuations to play with human performers. We classify synchronization and musical expression into two levels: (1) melody level and (2) rhythm level to cope with erroneous synchronizations. The idea is as follows: When the synchronization with the melody is reliable, respond to the pitch the robot hears, when the synchronization is uncertain, try to follow the rhythm of the music. Our method estimates the score position for the melody level and the tempo for the rhythm level. The reliability of the score position estimation is extracted from the probability distribution of the score position. The experimental results demonstrate that our method outperforms the existing score following system in 16 songs out of 20 polyphonic songs. The error in the prediction of the score position is reduced by 69% on average. The results also revealed that the switching mechanism alleviates the error in the estimation of the score position.
1. Introduction Music robots capable of, for example, dancing, singing, or playing an instrument with humans will play an important role in the symbiosis between robots and humans. Even people who do not speak a common language can share a friendly and joyful time through music not withstanding age, region, and race that we belong to. Music robots can be classified into two categories; entertainment-oriented robots like the violinist robot [1] exhibited in the Japanese booth at Shanghai Expo or dancer robots, and coplayer robots for natural interaction. Although the former category has been studied extensively, our research aims at the latter category, that is, a robot capable of musical expressiveness in harmony with humans. Music robots should be coplayers rather than entertainers to increase human-robot symbiosis and achieve a richer musical experience. Their music interaction requires
two important
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