FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarms

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this end, our paper proposes a complete system to recover a swarm's initial relative pose on platforms with size, weight, and power (SWaP) constraints. To overcome limited coverage of field-of-view (FoV), the drones rotate in place to obtain observations. To tackle the anonymous measurements, we formulate a non-convex rotation estimation problem and transform it into a semi-definite programming (SDP) problem, which can steadily obtain global optimal values. Then we utilize the Hungarian algorithm to recover relative translation and correspondences between observations and drone identities. To safely acquire complete observations, we actively search for positions and generate feasible trajectories to avoid collisions. To validate the practicability of our system, we conduct experiments on a vision-based drone swarm with only stereo cameras and inertial measurement units (IMUs) as sensors. The results demonstrate that the system can robustly get accurate relative poses in real time with limited onboard computation resources. The source code is released.

Employing Real Training Data for Deep Noise Suppression

Most deep noise suppression (DNS) models are trained with reference-based losses requiring access to clean speech. However, sometimes an additive microphone model is insufficient for real-world applications. Accordingly, ways to use real training data in supervised learning for DNS models promise to reduce a potential training/inference mismatch. Employing real data for DNS training requires either generative approaches or a reference-free loss without access to the corresponding clean speech. In this work, we propose to employ an end-to-end non-intrusive deep neural network (DNN), named PESQ-DNN, to estimate perceptual evaluation of speech quality (PESQ) scores of enhanced real data. It provides a reference-free perceptual loss for employing real data during DNS training, maximizing the PESQ scores. Furthermore, we use an epoch-wise alternating training protocol, updating the DNS model on real data, followed by PESQ-DNN updating on synthetic data. The DNS model trained with the PESQ-DNN employing real data outperforms all reference methods employing only synthetic training data. On synthetic test data, our proposed method excels the Interspeech 2021 DNS Challenge baseline by a significant 0.32 PESQ points. Both on synthetic and real test data, the proposed method beats the baseline by 0.05 DNSMOS points - although PESQ-DNN optimizes for a different perceptual metric.

Coded Speech Quality Measurement by a Non-Intrusive PESQ-DNN

Wideband codecs such as AMR-WB or EVS are widely used in (mobile) speech communication. Evaluation of coded speech quality is often performed subjectively by an absolute category rating (ACR) listening test. However, the ACR test is impractical for online monitoring of speech communication networks. Perceptual evaluation of speech quality (PESQ) is one of the widely used metrics instrumentally predicting the results of an ACR test. However, the PESQ algorithm requires an original reference signal, which is usually unavailable in network monitoring, thus limiting its applicability. NISQA is a new non-intrusive neural-network-based speech quality measure, focusing on super-wideband speech signals. In this work, however, we aim at predicting the well-known PESQ metric using a non-intrusive PESQ-DNN model. We illustrate the potential of this model by predicting the PESQ scores of wideband-coded speech obtained from AMR-WB or EVS codecs operating at different bitrates in noisy, tandeming, and error-prone transmission conditions. We compare our methods with the state-of-the-art network topologies of QualityNet, WaweNet, and DNSMOS -- all applied to PESQ prediction -- by measuring the mean absolute error (MAE) and the linear correlation coefficient (LCC). The proposed PESQ-DNN offers the best total MAE and LCC of 0.11 and 0.92, respectively, in conditions without frame loss, and still is best when including frame loss. Note that our model could be similarly used to non-intrusively predict POLQA or other (intrusive) metrics. Upon article acceptance, code will be provided at GitHub.

Does a PESQNet (Loss) Require a Clean Reference Input? The Original PESQ Does, But ACR Listening Tests Don't

Perceptual evaluation of speech quality (PESQ) requires a clean speech reference as input, but predicts the results from (reference-free) absolute category rating (ACR) tests. In this work, we train a fully convolutional recurrent neural network (FCRN) as deep noise suppression (DNS) model, with either a non-intrusive or an intrusive PESQNet, where only the latter has access to a clean speech reference. The PESQNet is used as a mediator providing a perceptual loss during the DNS training to maximize the PESQ score of the enhanced speech signal. For the intrusive PESQNet, we investigate two topologies, called early-fusion (EF) and middle-fusion (MF) PESQNet, and compare to the non-intrusive PESQNet to evaluate and to quantify the benefits of employing a clean speech reference input during DNS training. Detailed analyses show that the DNS trained with the MF-intrusive PESQNet outperforms the Interspeech 2021 DNS Challenge baseline and the same DNS trained with an MSE loss by 0.23 and 0.12 PESQ points, respectively. Furthermore, we can show that only marginal benefits are obtained compared to the DNS trained with the non-intrusive PESQNet. Therefore, as ACR listening tests, the PESQNet does not necessarily require a clean speech reference input, opening the possibility of using real data for DNS training.

Deep Noise Suppression Maximizing Non-Differentiable PESQ Mediated by a Non-Intrusive PESQNet

Speech enhancement employing deep neural networks (DNNs) for denoising are called deep noise suppression (DNS). During training, DNS methods are typically trained with mean squared error (MSE) type loss functions, which do not guarantee good perceptual quality. Perceptual evaluation of speech quality (PESQ) is a widely used metric for evaluating speech quality. However, the original PESQ algorithm is non-differentiable, and therefore cannot directly be used as optimization criterion for gradient-based learning. In this work, we propose an end-to-end non-intrusive PESQNet DNN to estimate the PESQ scores of the enhanced speech signal. Thus, by providing a reference-free perceptual loss, it serves as a mediator towards the DNS training, allowing to maximize the PESQ score of the enhanced speech signal. We illustrate the potential of our proposed PESQNet-mediated training on the basis of an already strong baseline DNS. As further novelty, we propose to train the DNS and the PESQNet alternatingly to keep the PESQNet up-to-date and perform well specifically for the DNS under training. Our proposed method is compared to the same DNS trained with MSE-based loss for joint denoising and dereverberation, and the Interspeech 2021 DNS Challenge baseline. Detailed analysis shows that the PESQNet mediation can further increase the DNS performance by about 0.1 PESQ points on synthetic test data and by 0.03 DNSMOS points on real test data, compared to training with the MSE-based loss. Our proposed method also outperforms the Challenge baseline by 0.2 PESQ points on synthetic test data and 0.1 DNSMOS points on real test data.

Deep Noise Suppression With Non-Intrusive PESQNet Supervision Enabling the Use of Real Training Data

Data-driven speech enhancement employing deep neural networks (DNNs) can provide state-of-the-art performance even in the presence of non-stationary noise. During the training process, most of the speech enhancement neural networks are trained in a fully supervised way with losses requiring noisy speech to be synthesized by clean speech and additive noise. However, in a real implementation, only the noisy speech mixture is available, which leads to the question, how such data could be advantageously employed in training. In this work, we propose an end-to-end non-intrusive PESQNet DNN which estimates perceptual evaluation of speech quality (PESQ) scores, allowing a reference-free loss for real data. As a further novelty, we combine the PESQNet loss with denoising and dereverberation loss terms, and train a complex mask-based fully convolutional recurrent neural network (FCRN) in a "weakly" supervised way, each training cycle employing some synthetic data, some real data, and again synthetic data to keep the PESQNet up-to-date. In a subjective listening test, our proposed framework outperforms the Interspeech 2021 Deep Noise Suppression (DNS) Challenge baseline overall by 0.09 MOS points and in particular by 0.45 background noise MOS points.