Fig. 1From: Motor data-regularized nonnegative matrix factorization for ego-noise suppressionIllustration of a typical human-robot interaction scenario. The desired source ("target") is shown on the left. Two exemplary, spatially distributed ego-noise sources are shown in blue. Besides, typical distances between the sources and the microphones are given. Obviously, the ego-noise sources are located close to the microphones while the distance between target and microphones is typically larger. Image of robot taken from [12]Back to article page