論文

• Toshinori Kagawa, Fumie Ono, Lin Shan, Ryu Miura, Kazuhiro Nakadai, Kotaro Hoshiba, Makoto Kumon, Hiroshi G. Okuno, Shin Kato, Fumihide Kojima. Multi-hop wireless command and telemetry communication system for remote operation of robots with extending operation area beyond line-of-sight using 920 MHz/169 MHz, Advanced Robotics, Vol. 34, No. 11, pp. 756-766, May 2020.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. 2D sound source position estimation using microphone arrays and its application to a VR-based bird song analysis system, Advanced Robotics, Vol. 33, No. 7-8, pp. 403-414, Mar. 2019.
• Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno. Assessment of MUSIC-Based Noise-Robust Sound Source Localization with Active Frequency Range Filtering, Journal of Robotics and Mechatronics, Vol. 30, No. 3, pp. 426-435, June 2018.
• Kotaro Hoshiba, Kai Washizaki, Mizuho Wakabayashi, Takahiro Ishiki, Makoto Kumon, Yoshiaki Bando, Daniel Gabriel, Kazuhiro Nakadai, Hiroshi G. Okuno. Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments, Sensors, Vol. 17, No. 11, pp. 1-16, Nov. 2017.
• Kotaro Hoshiba, Osamu Sugiyama, Akihide Nagamine, Ryosuke Kojima, Makoto Kumon, Kazuhiro Nakadai. Design and assessment of sound source localization system with a UAV-embedded microphone array, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 154-167, Feb. 2017.
• Ryosuke Kojima, Osamu Sugiyama, Kotaro Hoshiba, Kazuhiro Nakadai, Reiji Suzuki, Charles E. Taylor. Bird song scene analysis using a spatial-cue-based probabilistic model, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 236-246, Feb. 2017.
• kazuhiro nakadai, Okuno, H.G., Mizumoto, T.. Development, deployment and applications of robot audition open source software HARK, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 16-25, 2017.
• Ohata, T., Nakamura, K., Nagamine, A., Mizumoto, T., Takayuki Ishizaki, Kojima, R., Sugiyama, O., kazuhiro nakadai. Outdoor sound source detection using a quadcopter with microphone array, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 177-187, 2017.
• Matsubayashi, S., Suzuki, R., Saito, F., Murate, T., Masuda, T., Yamamoto, K., Kojima, R., kazuhiro nakadai, Okuno, H.G.. Acoustic monitoring of the great reed warbler using multiple microphone arrays and robot audition, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 224-235, 2017.
• kazuhiro nakadai, Tezuka, T., Yoshida, T.. Ego-noise suppression for robots based on semi-blind infinite non-negative matrix factorization, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 114-124, 2017.
• Yalta, N., kazuhiro nakadai, Ogata, T.. Sound source localization using deep learning models, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 37-48, 2017.
• kazuhiro nakadai, Koiwa, T.. Psychologically-inspired audio-visual speech recognition using coarse speech recognition and missing feature theory, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 105-113, 2017.
• Suzuki, R., Matsubayashi, S., Hedley, R.W., kazuhiro nakadai, Okuno, H.G.. Harkbird: Exploring acoustic interactions in bird communities using a microphone array, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 213-223, 2017.
• Sugiyama, O., Uemura, S., Nagamine, A., Kojima, R., Nakamura, K., kazuhiro nakadai. Outdoor acoustic event identification with DNN using a quadrotor-embedded microphone array, Journal of Robotics and Mechatronics, Vol. 29, No. 1, pp. 188-197, 2017.
• Kojima, R., Sugiyama, O., kazuhiro nakadai. Multimodal Scene Understanding Framework and Its Application to Cooking Recognition, Applied Artificial Intelligence, Vol. 30, No. 3, pp. 181-200, 2016.
• Bando, Y., Otsuka, T., Mizumoto, T., Itoyama, K., Konyo, M., Tadokoro, S., kazuhiro nakadai, Okuno, H.G.. Posture estimation of hose-shaped robot by using active microphone array, Advanced Robotics, Vol. 29, No. 1, pp. 35-49, 2015.
• 奥谷 啓太, 吉田 尚水, 中村 圭佑, 中臺一博. クワドロコプタ搭載のマイクロホンアレイを用いた屋外音環境理解の逐次雑音推定による向上, 日本ロボット学会誌, The Robotics Society of Japan, Vol. 31, No. 7, pp. 676-683, Sept. 2013.
• Miura, H., Yoshida, T., Nakamura, K., kazuhiro nakadai. SLAM-based online calibration for asynchronous microphone array, Advanced Robotics, Vol. 26, No. 17, pp. 1941-1965, 2012.
• Yoshida, T., kazuhiro nakadai. Audio-visual voice activity detection based on an utterance state transition model, Advanced Robotics, Vol. 26, No. 10, pp. 1183-1201, 2012.
• Ince, G., kazuhiro nakadai, Rodemann, T., Tsujino, H., Imura, J.-I.. Whole body motion noise cancellation of a robot for improved automatic speech recognition, Advanced Robotics, Vol. 25, No. 11, pp. 1405-1426, 2011.
• Otsuka, T., kazuhiro nakadai, Takahashi, T., Ogata, T., Okuno, H.G.. Real-time audio-to-score alignment using particle filter for coplayer music robots, Eurasip Journal on Advances in Signal Processing, Vol. 2011, 2011.
• Okuno, H.G., kazuhiro nakadai, Kim, H.-D.. Robot audition: Missing feature theory approach and active audition, Springer Tracts in Advanced Robotics, Vol. 70, No. STAR, pp. 227-244, 2011.
• Ince, G., kazuhiro nakadai, Rodemann, T., Tsujino, H., Imura, J.-I.. Ego noise cancellation of a robot using missing feature masks, Applied Intelligence, Vol. 34, No. 3, pp. 360-371, 2011.
• 吉田 尚水, 中臺一博, 奥乃 博. ロボットを対象とした二階層視聴覚統合音声認識システム, 日本ロボット学会誌, 日本ロボット学会, Vol. 28, No. 8, pp. 970-977, Oct. 2010.
• kazuhiro nakadai, Takahashi, T., Okuno, H.G., Nakajima, H., Hasegawa, Y., Tsujino, H.. Design and implementation of robot audition system 'HARK' - Open source software for listening to three simultaneous speakers, Advanced Robotics, Vol. 24, No. 5-6, pp. 739-761, 2010.

著書

• Kenzo Nonami, Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Yasutada Tanabe, Koichi Yonezawa, Hiroshi Tokutake, Satoshi Suzuki, Kohei Yamaguchi, Shigeru Sunada, Takeshi Takaki, Toshiyuki Nakata, Ryusuke Noda, Hao Liu, Satoshi Tadokoro. Recent R&D Technologies and Future Prospective of Flying Robot in Tough Robotics Challenge, Disaster Robotics - Results from the ImPACT Tough Robotics Challenge, Springer International Publishing, Jan. 2019.

国際会議発表 (査読有り)

• Makoto Kumon, Hiroshi G. Okuno, Kazuhiro Nakadai, Kotaro Hoshiba, Ryusuke Noda. Proposal of Cognitive Drone Audition based on Cognitive Dynamic Systems, Quiet Drones, pp. 1-15, Oct. 2020.
• Kotaro Hoshiba, Ryusuke Noda, Toshiyuki Nakata, Hao Liu, Kei Senda, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno. Development of surface-processed low-noise propeller for search and rescue tasks with drone audition, Quiet Drones, pp. 1-13, Oct. 2020.
• Mizuho Wakabayashi, Kai Washizaki, Kotaro Hoshiba, Kazuhiro Nakadai, Hiroshi G. Okuno, Makoto Kumon. Design and Implementation of Real-Time Visualization of Sound Source Positions by Drone Audition, 2020 IEEE/SICE International Symposium on System Integrations (SII2020), pp. 814-819, Jan. 2020.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. Design and Assessment of Multiple-Sound Source Localization Using Microphone Arrays, 2019 IEEE/SICE International Symposium on System Integrations (SII2019), pp. 199-204, Jan. 2019.
• Ryosuke Kojima, Osamu Sugiyama, Kotaro Hoshiba, Reiji Suzuki, Kazuhiro Nakadai. HARK-Bird-Box: A Portable Real-Time Bird Song Scene Analysis System, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 2497-2502, Oct. 2018.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. Design guidelines for noise robust estimation of multiple 2D sound source positions using multiple microphone arrays, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), Oct. 2018.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. Noise robust 2D bird localization via sound using microphone arrays, The 10th International Conference on Ecological Informatics (ICEI2018), p. 71, Sept. 2018.
• Ryosuke Taniguchi, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. Signal Restoration Based on Bi-Directional LSTM with Spectral Filtering for Robot Audition, The 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018), pp. 955-960, Aug. 2018.
• Ryosuke Kojima, Osamu Sugiyama, Kotaro Hoshiba, Reiji Suzuki, Kazuhiro Nakadai. A Spatial-Cue-Based Probabilistic Model for Bird Song Scene Analysis, The 4th IEEE International Conference on Data Science and Advanced Analytics (DSAA2017), pp. 395-404, Oct. 2017.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Kazuhiro Nakadai. Noise Robust 2D Sound Source Localization Using Multiple Microphone Arrays in Bird Song Scene Analysis, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), p. 3145, Sept. 2017.
• Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Kotaro Hoshiba, Mizuho Wakabayashi, Kai Washizaki, Takahiro Ishiki, Daniel Gabriel, Yoshiaki Bando, Takayuki Morito, Ryosuke Kojima, Osamu Sugiyama. Development of Microphone-Array-Embedded UAV for Search and Rescue Task, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp. 5985-5990, Sept. 2017.
• Ryosuke Taniguchi, Kotaro Hoshiba, Kazuhiro Nakadai. Musical Audio Signal Restoration Using Bi-Directional LSTM, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), p. 5466, Sept. 2017.
• kazuhiro nakadai, Kumon, M., Okuno, H.G., Hoshiba, K., Wakabayashi, M., Washizaki, K., Ishiki, T., Gabriel, D., Bando, Y., Morito, T., Kojima, R., Sugiyama, O.. Development of microphone-array-embedded UAV for search and rescue task, IEEE International Conference on Intelligent Robots and Systems, Vol. 2017-September, pp. 5985-5990, 2017.
• Kotaro Hoshiba, Kazuhiro Nakadai, Shinnosuke Hirata, Hiroyuki Hachiya. Noncontact measurement of body position and vital information using airborne ultrasound, 5th Joint Meeting of the Acoustical Society of America and Acoustical Society of Japan, p. 3348, Nov. 2016.
• Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., kazuhiro nakadai, Yoshii, K., Okuno, H.G.. Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array, SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, 2016.
• Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., kazuhiro nakadai, Yoshii, K., Okuno, H.G.. Variational Bayesian multi-channel robust NMF for human-voice enhancement with a deformable and partially-occluded microphone array, European Signal Processing Conference, Vol. 2016-November, pp. 1018-1022, 2016.
• Morito, T., Sugiyama, O., Kojima, R., kazuhiro nakadai. Partially shared deep neural network in sound source separation and identification using a uav-embedded microphone array, IEEE International Conference on Intelligent Robots and Systems, Vol. 2016-November, pp. 1299-1304, 2016.
• Morito, T., Sugiyama, O., Uemura, S., Kojima, R., kazuhiro nakadai. Reduction of computational cost using two-stage deep neural network for training for denoising and sound source identification, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9799, pp. 562-573, 2016.
• Kojima, R., Sugiyama, O., Suzuki, R., kazuhiro nakadai, Taylor, C.E.. Semi-automatic bird song analysis by spatial-cue-based integration of sound source detection, localization, separation, and identification, IEEE International Conference on Intelligent Robots and Systems, Vol. 2016-November, pp. 1287-1292, 2016.
• Kojima, R., Sugiyama, O., kazuhiro nakadai. Scene understanding based on sound and text information for a cooking support robot, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9101, pp. 665-674, 2015.
• Kojima, R., Sugiyama, O., kazuhiro nakadai. Audio-visual scene understanding utilizing text information for a cooking support robot, IEEE International Conference on Intelligent Robots and Systems, Vol. 2015-December, pp. 4210-4215, 2015.
• Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., kazuhiro nakadai, Yoshii, K., Okuno, H.G.. Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot, IEEE International Conference on Intelligent Robots and Systems, Vol. 2015-December, pp. 5580-5586, 2015.
• Sugiyama, O., Kojima, R., kazuhiro nakadai. Interactive interface to optimize sound source localization based on microphone array with coarse-to-fine tuning for humanoids, IEEE-RAS International Conference on Humanoid Robots, Vol. 2015-December, pp. 825-830, 2015.
• Sugiyama, O., Kojima, R., kazuhiro nakadai. Interactive interface to optimize sound source localization with HARK, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9101, pp. 262-271, 2015.
• Ohata, T., Nakamura, K., Mizumoto, T., Taiki, T., kazuhiro nakadai. Improvement in outdoor sound source detection using a quadrotor-embedded microphone array, IEEE International Conference on Intelligent Robots and Systems, pp. 1902-1907, 2014.
• Tezuka, T., Yoshida, T., kazuhiro nakadai. Ego-motion noise suppression for robots based on Semi-Blind Infinite Non-negative Matrix Factorization, IEEE International Conference on Robotics and Automation, pp. 6293-6298, 2014.
• Furukawa, K., Okutani, K., Nagira, K., Otsuka, T., Itoyama, K., kazuhiro nakadai, Okuno, H.G.. Noise correlation matrix estimation for improving sound source localization by multirotor UAV, IEEE International Conference on Intelligent Robots and Systems, pp. 3943-3948, 2013.
• Otake, M., Nergui, M., Moon, S.-E., Takagi, K., Kamashima, T., kazuhiro nakadai. Development of a sound source localization system for assisting group conversation, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 8102 LNAI, No. PART 1, pp. 532-539, 2013.
• Yoshida, T., kazuhiro nakadai. Active audio-visual integration for Voice Activity Detection based on a Causal Bayesian Network, IEEE-RAS International Conference on Humanoid Robots, pp. 370-375, 2012.
• Okutani, K., Yoshida, T., Nakamura, K., kazuhiro nakadai. Outdoor auditory scene analysis using a moving microphone array embedded in a quadrocopter, IEEE International Conference on Intelligent Robots and Systems, pp. 3288-3293, 2012.
• Miura, H., Yoshida, T., Nakamura, K., kazuhiro nakadai. SLAM-based online calibration of asynchronous microphone array for robot audition, IEEE International Conference on Intelligent Robots and Systems, pp. 524-529, 2011.
• Ince, G., Nakamura, K., Asano, F., Nakajima, H., kazuhiro nakadai. Assessment of general applicability of ego noise estimation: Applications to automatic speech recognition and sound source localization, IEEE International Conference on Robotics and Automation, pp. 3517-3522, 2011.
• Mizumoto, T., kazuhiro nakadai, Yoshida, T., Takeda, R., Otsuka, T., Takahashi, T., Okuno, H.G.. Design and implementation of selectable sound separation on the texai telepresence system using HARK, IEEE International Conference on Robotics and Automation, pp. 2130-2137, 2011.
• Ince, G., kazuhiro nakadai, Rodemann, T., Imura, J.-I., Nakamura, K., Nakajima, H.. Incremental learning for ego noise estimation of a robot, IEEE International Conference on Intelligent Robots and Systems, pp. 131-136, 2011.
• Ince, G., kazuhiro nakadai, Rodemann, T., Imura, J.-I., Nakamura, K., Nakajima, H.. Assessment of single-channel ego noise estimation methods, IEEE International Conference on Intelligent Robots and Systems, pp. 106-111, 2011.
• Gong, Z., kazuhiro nakadai, Nakajima, H., Hagiwara, I.. HARK based real-time single pane 3D auditory scene visualizer empowered by speech arrow, IEEE International Conference on Intelligent Robots and Systems, pp. 530-535, 2011.
• G. Ince, K. Nakadai, T. Rodemann, Y. Hasegawa, H. Tsujino, J. Imura. A hybrid framework for ego noise cancellation of a robot, in Proc. IEEE/RSJ International Conference on Robotics and Automation(ICRA), 3623-3628, May 2010.
• Yoshida, T., kazuhiro nakadai, Okuno, H.G.. An improvement in audio-visual voice activity detection for automatic speech recognition, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 6096 LNAI, No. PART 1, pp. 51-61, 2010.
• G. Ince, K. Nakadai, T. Rodemann, H. Tsujino, J. Imura. Multi-talker Speech Recognition under Ego-motion Noise using Missing Feature Theory, Proc. of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 982 - 987, 2010.
• Yoshida, T., kazuhiro nakadai, Okuno, H.G.. Two-layered audio-visual speech recognition for robots in noisy environments, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 988-993, 2010.
• G. Ince, K. Nakadai, T. Rodemann, H. Tsujino, J. Imura. A Robust Speech Recognition System against the Ego Noise of a Robot, Proceedings of Interspeech 2010, pp. 2070 - 2073, 2010.
• Yoshida, T., kazuhiro nakadai. Two-layered audio-visual integration in Voice Activity Detection and Automatic Speech Recognition for robots, Proceedings of the 11th Annual Conference of the International Speech Communication Association, INTERSPEECH 2010, pp. 2702-2705, 2010.
• Mizumoto, T., Otsuka, T., kazuhiro nakadai, Takahashi, T., Komatani, K., Ogata, T., Okuno, H.G.. Human-robot ensemble between robot thereminist and human percussionist using coupled oscillator model, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 1957-1963, 2010.
• Takahashi, T., kazuhiro nakadai, Komatani, K., Ogata, T., Okuno, H.G.. Improvement in listening capability for humanoid robot HRP-2, IEEE International Conference on Robotics and Automation, pp. 470-475, 2010.
• kazuhiro nakadai, Nakajima, H., Ince, G., Hasegawa, Y.. Sound source separation and automatic speech recognition for moving sources, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 976-981, 2010.
• Ince Gokhan, kazuhiro nakadai, Tobias Rodemann, Yuji Hasegawa, Hiroshi Tsujino, Jun-ichi Imura. Ego Noise Suppression of a Robot Using Template Subtraction, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 199/204, Oct. 2009.
• Tomoaki Koiwa, Kazuhiro Nakadai, Jun-ichi Imura. Coarse Speech Recognition by Audio-Visual Integration based on Missing Feature Theory, Proc. of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1751/1756, 2007.

国際会議発表 (査読なし・不明)

• Kazuhiro Nakadai, Katsutoshi Itoyama, Kotaro Hoshiba, Hiroshi G. Okuno. MUSIC-BASED SOUND SOURCE LOCALIZATION AND TRACKING FOR TASKS 1 AND 3, The 16th International Workshop on Acoustic Signal Enhancement (IWAENC2018), pp. 1-5, Sept. 2018.

国内会議発表 (査読なし・不明)

• 合澤 隆拓, 坂東 宜昭, 糸山 克寿, 西田 健次, 中臺 一博. 深層ブラインド音源分離と転移学習に基づく遠隔音声認識の評価, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 09, Nov. 2022.
• 周藤 唯, Muhammad Shakeel, 中臺 一博, 史 嘉?, 渡部 晋治. Blockwiseストリーミング音声認識と発話区間検出の統合, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 10, Oct. 2022.
• 山田 泰基, 糸山 克寿, 西田 健次, 中臺 一博. 複数音源追跡におけるドローン群の行動計画の検討, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 07, Oct. 2022.
• 中臺 一博, 糸山 克寿, 瀧ヶ平 将行. PyHARK: HARKのオンライン・オフライン処理用Pythonパッケージ, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 04, Oct. 2022.
• 西田 健次, 糸山 克寿, 中臺 一博. 低解像度画像からの小領域物体の検出手法の検討, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 03, Oct. 2022.
• 糸山 克寿, 中臺 一博. 任意の混合音を入力としたマイクロホンアレイ形状のキャリブレーション, 人工知能学会第二種研究会資料, 一般社団法人 人工知能学会, Vol. 2022, No. Challenge-061, pp. 11, Oct. 2022.
• 干場功太郎, 野田龍介, 中田敏是, 劉浩, 泉田啓, 中臺一博, 公文誠, 奥乃博. ドローン搭載マイクロホンアレイを用いた音源探査の高精度化に向けた静音プロペラの開発, 第38回日本ロボット学会学術講演会, pp. 1D3-03-1-4, Oct. 2020.
• 加川敏規, 小野文枝, 単麟, 三浦龍, 中臺一博, 干場功太郎, 公文誠, 奥乃博, 加藤晋, 児島史秀. 920MHz帯マルチホップ無線通信システムを用いたドローン制御およびセンサデータ伝送の実証実験, 電子情報通信学会 高信頼制御通信研究会, pp. 217-221, Dec. 2018.
• 公文誠, 若林瑞保, 干場功太郎, 中臺一博, 奥乃博. ドローンによる地上音源の位置推定 - HARK を用いたドローン聴覚の取り組み, 第19回計測自動制御学会システムインテグレーション部門講演会, pp. 2E3-09, Dec. 2018.
• 公文誠, 中臺一博, 干場功太郎, 奥乃博. 地上音源の位置推定を行うドローン聴覚システムのための分散処理環境の開発, 第52回人工知能学会AIチャレンジ研究会, pp. 5-10, Dec. 2018.
• 鈴木拓也, 中臺一博, 奥乃博, 星達也, 水野直希, 大貫和也, 濱田龍之介, 大野和則, 干場功太郎. 音響センサによるサイバー救助犬のパンティングの検出, 第36回日本ロボット学会学術講演会, pp. 1-4, Sept. 2018.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Katsutoshi Itoyama, Kenji Nishida, Kazuhiro Nakadai. Case study of bird localization via sound in 3D space, 第36回日本ロボット学会学術講演会, pp. 1-4, Sept. 2018.
• 谷口亮輔, 干場功太郎, 糸山克寿, 西田健次, 中臺一博. Bi-directional LSTMを用いた分離音声信号修復法の提案, 第36回日本ロボット学会学術講演会, pp. 1-4, Sept. 2018.
• 奥乃博, 糸山克寿, 中臺一博, 公文誠, 坂東宜昭, 干場功太郎. ロボット聴覚技術の極限環境への展開, 第62回システム制御情報学会研究発表講演会, pp. 1-5, May 2018.
• 谷口亮輔, 干場功太郎, 中臺一博. Quad-directional LSTMを用いた音楽音響信号修復とその評価, 情報処理学会第80回全国大会, pp. 2-171-172, Mar. 2018.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Kazuhiro Nakadai. Evaluation of 2D bird localization algorithm using microphone arrays, 情報処理学会第80回全国大会, pp. 2-381-382, Mar. 2018.
• 高尾麻衣子, 干場功太郎, 中臺一博. 可聴音を用いた周波数自動選択に基づく距離推定法の検討, 情報処理学会第80回全国大会, pp. 2-383-384, Mar. 2018.
• 高尾麻衣子, 干場功太郎, 中臺一博. 可聴音を用いた周波数選択に基づく距離推定法の実環境利用に向けた評価, 人工知能学会合同研究会2017 第49回AIチャレンジ研究会, pp. 29-34, Nov. 2017.
• 谷口亮輔, 干場功太郎, 中臺一博. Quad-directional LSTMを用いた音楽音響信号修復法の提案, 人工知能学会合同研究会2017 第49回AIチャレンジ研究会, pp. 1-4, Nov. 2017.
• 干場功太郎, 中臺一博, 公文誠, 奥乃博. アクティブ周波数レンジフィルタを用いた雑音にロバストな音源定位手法の提案, 人工知能学会合同研究会2017 第49回AIチャレンジ研究会, pp. 9-14, Nov. 2017.
• 鷲崎海, 公文誠, 大塚琢馬, 奥乃博, 干場功太郎, 中臺一博. マルチロータヘリコプタ収録音の音源分離におけるシステムパラメータと分離性能について, 第35回日本ロボット学会学術講演会, pp. 1-4, Sept. 2017.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Kazuhiro Nakadai. Online auditory scene analysis using multiple microphone arrays, 第35回日本ロボット学会学術講演会, pp. 1-4, Sept. 2017.
• 高尾麻衣子, 干場功太郎, 中臺一博. 可聴音を用いた周波数選択に基づく距離推定法の検討, 第35回日本ロボット学会学術講演会, pp. 1-4, Sept. 2017.
• 干場功太郎, 中臺一博, 公文誠, 奥乃博. UAV搭載マイクロホンアレイを用いた組み込みシステムによる音源探査性能の評価, 第35回日本ロボット学会学術講演会, pp. 1-4, Sept. 2017.
• 谷口亮輔, 干場功太郎, 中臺一博. Bi-directional LSTM を用いた音楽音響信号修復法の提案, 第35回日本ロボット学会学術講演会, pp. 1-4, Sept. 2017.
• 干場功太郎, 鷲崎海, 若林瑞保, 公文誠, 中臺一博. UAVを用いた音源探査におけるマイクロホンアレイの性能評価, ロボティクス・メカトロニクス講演会, pp. 1-4, May 2017.
• Daniel Gabriel, Ryosuke Kojima, Kotaro Hoshiba, Kazuhiro Nakadai. Iterative Outlier Removal Method Using In-Cluster Variance Changes in Multi-Microphone Array Sound Source Localization, 情報処理学会第79回全国大会, pp. 2-229-230, Mar. 2017.
• 干場功太郎, 若林瑞保, 鷲崎海, 石木隆洋, 公文誠, Daniel Gabriel, 中臺一博, 奥乃博. マイクロホンアレイ搭載UAVを用いた屋外実環境実時間音源探査, 情報処理学会第79回全国大会, pp. 1-199-200, Mar. 2017.
• 谷口亮輔, 小島諒介, 干場功太郎, 中臺一博. LSTM による音楽音響信号の修復法の提案 -周波数フィルタ導入による学習データ量削減の検討-, 情報処理学会第79回全国大会, pp. 2-133-134, Mar. 2017.
• 中臺一博, 坂東宜昭, 水本武志, 干場功太郎, 小島諒介, 糸山克寿, 杉山治, 公文誠, 奥乃博. HARK 2.3 の紹介とタフロボティクスチャレンジへの展開, 第17回計測自動制御学会システムインテグレーション部門講演会, pp. 3A3-3, Dec. 2016.
• 小島諒介, 杉山治, 干場功太郎, 鈴木麗璽, 中臺一博. 空間情報を用いた鳥の歌分析, 人工知能学会合同研究会2016 第41回AIチャレンジ研究会, pp. 25-31, Nov. 2016.
• 干場功太郎, 小島諒介, 杉山治, 中臺一博. UAV搭載マイクロホンアレイを用いた音源探査の実環境評価, 第34回日本ロボット学会学術講演会, pp. 1-4, Sept. 2016.
• 長峰諒英, 大畑琢磨, 上村知史, 小島諒介, 杉山治, 中村圭佑, 中臺一博. 屋外音環境理解における音源検出の性能評価と可視化, 第41回人工知能学会AIチャレンジ研究会, pp. 13-19, Nov. 2014.
• 大畑琢磨, 長峰諒英, 中村圭佑, 石崎孝幸, 水本武志, 中臺一博. 相関行列スケーリングを用いた屋外音源探索手法の解析, 第41回人工知能学会AIチャレンジ研究会, pp. 7-12, Nov. 2014.
• 中臺一博, 中村 圭佑, 手塚 太貴. 聴覚を中心としたロボットの環境認識技術(DI-1.社会課題を解決するためのパターン認識・メディア理解技術の進展,依頼シンポジウム,ソサイエティ企画), 電子情報通信学会総合大会講演論文集, 一般社団法人電子情報通信学会, Vol. 2014, No. 2, pp. "SS-18"-"SS-19", Mar. 2014.
• 松浦 大輔, 中臺 一博, 奥乃 博, 北野 宏明. サポートベクターマシンを用いた話者トラッキング注意制御, 日本ロボット学会創立20周年記念学術講演会講演論文集, 日本ロボット学会, 1H33, Oct. 2011.

その他の論文・著書など

• 中臺一博, 奥乃 博, 水本 武志, 中村 圭佑. ロボット聴覚オープンソースソフトウェアHARKの開発とその応用(最先端研究), シミュレーション, 日本シミュレーション学会, Vol. 35, No. 1, pp. 32-38, Mar. 2016.
• 中臺一博, 中村 圭佑. 非同期分散マイクロホンアレイのオンラインキャリブレーションと伝達関数の推定 (小特集 マイクロホンアレイの新しい技術展開), 日本音響学会誌, 一般社団法人日本音響学会, Vol. 70, No. 7, pp. 397-402, July 2014.
• 杉山 治, 糸山 克寿, 中臺一博, 奥乃 博. HARKによって定位・分離された多方向音声のアノテーションツールの開発 (クラウドネットワークロボット), 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 一般社団法人電子情報通信学会, Vol. 114, No. 85, pp. 23-26, June 2014.
• G. Ince, K. Nakadai, T. Rodemann, H. Tsujino, J. Imura. Robust Ego Noise Suppression of a Robot, Trends in Applied Intelligent Systems, LNAI 6096,, pp. 62-71, 2010.

特許など

• 中臺一博, 藤田侑樹, 糸山　克寿. 音響処理装置、音響処理方法およびプログラム. 特許. 公開. 国立大学法人東京工業大学, 株式会社ホンダ・リサーチ・インスティチュート・ジャパン. 2022/12/09. 特願2022-197160. 2024/06/20. 特開2024-082932. 2024.
• 中臺一博, 安江蒼人, 糸山　克寿. 音源分離装置、音源分離方法、およびプログラム. 特許. 公開. 国立大学法人東京工業大学, 株式会社ホンダ・リサーチ・インスティチュート・ジャパン. 2022/12/12. 特願2022-197924. 2024/06/24. 特開2024-083863. 2024.

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