Audio-Visual Beat Tracking Based on a State-Space Model for a Music Robot Dancing with Humans

Abstract—This paper presents an audio-visual beat-tracking method for an entertainment robot that can dance in synchro-nization with music and human dancers. Conventional music robots have focused on either music audio signals or dancing movements of humans for detecting and predicting beat times in real time. Since a robot needs to record music audio signals by using its own microphones, however, the signals are severely contaminated with loud environmental noise and reverberant sounds. Moreover, it is difficult to visually detect beat times from real complicated dancing movements that exhibit weaker repetitive characteristics than music audio signals do. To solve these problems, we propose a state-space model that integrates both audio and visual information in a probabilistic manner. At each frame, the method extracts acoustic features (audio tempos and onset likelihoods) from music audio signals and extracts skeleton features from movements of a human dancer. The current tempo and the next beat time are then estimated from those observed features by using a particle filter. Exper-imental results showed that the proposed multi-modal method using a depth sensor (Kinect) for extracting skeleton features outperformed conventional mono-modal methods by 0.20 (F measure) in terms of beat-tracking accuracy in a noisy and reverberant environment. I