Abstract: An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD is used to determine if the AMD has collided with an obstacle. In one implementation the sensors may include a microphone. A collision may produce in the structure of the AMD a characteristic sound that is detected by the microphone and recognized as indicative of a collision. In another implementation information about velocity of the AMD and output from an inertial measurement unit (IMU) may be used to determine a characteristic change in motion that is indicative of a collision. Data from the microphone and the IMU may be combined to improve the reliability of collision detection.

Abstract: A system configured to perform deep adaptive acoustic echo cancellation (AEC) to improve audio processing. Due to mechanical noise and continuous echo path changes caused by movement of a device, echo signals are nonlinear and time-varying and not fully canceled by linear AEC processing alone. To improve echo cancellation, deep adaptive AEC processing integrates a deep neural network (DNN) and linear adaptive filtering to perform echo and/or noise removal. The DNN is configured to generate a nonlinear reference signal and step-size data, which the linear adaptive filtering uses to generate output audio data representing local speech. The DNN may generate the nonlinear reference signal by generating mask data that is applied to a microphone signal, such that the reference signal corresponds to a portion of the microphone signal that does not include near-end speech.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input, generating an electrical signal having a first gain level that is below a gain threshold for audible detection by a user, transmitting the electrical signal to the speaker and detecting, by the microphone, an audio signal that includes a combination of ambient noise and a probe audio signal, wherein the probe audio signal is output by the speaker based on the electrical signal. The method further includes determining a power level of the probe audio signal and determining a state of the display based on the power level of the probe audio signal.

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.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input from a user and determining, by the voice-controlled device, that a power state of an AV display device that is coupled to the voice-controlled device is an ON or OFF state. Based on the user intent determined from the speech input and the power state of the AV display, the voice-controlled device sends data to the AV display device to switch the AV display device ON or OFF. The method can further include receiving, by the voice-controlled device, content from a content source location and sending the content to the AV display device via an AV port.

Abstract: A mobile device capable of capturing voice commands includes a beamformer for determining audio data corresponding to one or more directions and a beam selector for selecting in which direction a source of target audio lies. The device determines, based on data from one or more sensors, an angle through which the device has rotated. Based on the angle and one or more rotation-compensation functions, the device interpolates audio data corresponding to the one or more directions to compensate for the rotation such that the direction corresponding to the source of target audio remains selected.

Abstract: A voice-controlled device includes a beamformer for determining audio data corresponding to one or more directions and a beam selector for selecting in which direction a source of target audio lies. The device determines magnitude spectrums for each beam and for each frequency bin in each beam for each frame of audio data. The device determines frame-by-frame changes in the magnitude and filters the changes to smooth them. The device selects the beam having the greatest smoothed change in magnitude as corresponding to speech.

Abstract: A device capable of moving a component of the device motion is capable of determining audio data corresponding to a direction relative to the device (“beamforming”). When the component moves, the device determines a new position of the component and selects one of a set of beamforming filter coefficients corresponding to the position. Using the filter coefficients, the device determines the directional audio data.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input, generating an electrical signal having a first gain level that is below a gain threshold for audible detection by a user, transmitting the electrical signal to the speaker and detecting, by the microphone, an audio signal that includes a combination of ambient noise and a probe audio signal, wherein the probe audio signal is output by the speaker based on the electrical signal. The method further includes determining a power level of the probe audio signal and determining a state of the display based on the power level of the probe audio signal.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input, generating an electrical signal having a first gain level that is below a gain threshold for audible detection by a user, transmitting the electrical signal to the speaker and detecting, by the microphone, an audio signal that includes a combination of ambient noise and a probe audio signal, wherein the probe audio signal is output by the speaker based on the electrical signal. The method further includes determining a power level of the probe audio signal and determining a state of the display based on the power level of the probe audio signal.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input from a user and determining, by the voice-controlled device, that a power state of an AV display device that is coupled to the voice-controlled device is an ON or OFF state. Based on the user intent determined from the speech input and the power state of the AV display, the voice-controlled device sends data to the AV display device to switch the AV display device ON or OFF. The method can further include receiving, by the voice-controlled device, content from a content source location and sending the content to the AV display device via an AV port.

Abstract: A system that performs wall detection, range estimation, corner detection and/or angular estimation. The system may determine an aggregate impulse response (e.g., impulse response of all components in a room) and may perform a deconvolution to remove a system impulse response (e.g., impulse response associated with loudspeaker(s) and microphone(s)). Thus, the system may use a sparse deconvolution algorithm to estimate a room impulse response (e.g., determine acoustic characteristics of the room). The system may detect a peak in the room impulse response and determine a distance and/or direction to an acoustically reflective surface based on the peak.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input from a user and determining, by the voice-controlled device, that a power state of an AV display device that is coupled to the voice-controlled device is an ON or OFF state. Based on the user intent determined from the speech input and the power state of the AV display, the voice-controlled device sends data to the AV display device to switch the AV display device ON or OFF. The method can further include receiving, by the voice-controlled device, content from a content source location and sending the content to the AV display device via an AV port.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input, generating an electrical signal having a first gain level that is below a gain threshold for audible detection by a user, transmitting the electrical signal to the speaker and detecting, by the microphone, an audio signal that includes a combination of ambient noise and a probe audio signal, wherein the probe audio signal is output by the speaker based on the electrical signal. The method further includes determining a power level of the probe audio signal and determining a state of the display based on the power level of the probe audio signal.

Abstract: A computer-implemented method includes receiving, at a microphone of a voice-controlled device, a speech input from a user and determining, by the voice-controlled device, that a power state of an AV display device that is coupled to the voice-controlled device is an ON or OFF state. Based on the user intent determined from the speech input and the power state of the AV display, the voice-controlled device sends data to the AV display device to switch the AV display device ON or OFF. The method can further include receiving, by the voice-controlled device, content from a content source location and sending the content to the AV display device via an AV port.

Abstract: A test signal generator provides a test signal to an acoustic device under test and a data acquisition device acquires data from the acoustic device. The initial frequency response of the signal path through the acoustic device is determined based on the test signal and the acquired data. A target frequency response is selected. A desired configuration of a configurable circuit in the signal path is determined modifying the signal path such that the frequency response of the signal path is substantially similar to the target frequency response. At least one parameter for at least one programmable component of the configurable circuit is determined and programmed into the programmable component.