Ultrasonic echo canceler-based technique to detect participant presence at a video conference endpoint

• US 9,319,633 B1
• Filed: 03/19/2015
• Issued: 04/19/2016
• Est. Priority Date: 03/19/2015
• Status: Active Grant

• Current Assignee: Cisco Technology, Inc. (Cisco Systems, Inc.)
• Original Assignee: Cisco Technology, Inc. (Cisco Systems, Inc.)
• Inventors: Birkenes, Oystein, Burenius, Lennart, Tangeland, Kristian
• Primary Examiner(s): Anwah, Olisa
• Application Number:
  US14/662,691
• Time in Patent Office: 397 Days
• Field of Search: 348/14.01, 348/14.08, 348/14.05, 348/14.12
• US Class Current: 1/1
• CPC Class Codes: G01S 15/04 Systems determining presence of a target
• CPC Class Codes: G01S 15/523 for presence detection burglar, theft or intruder alarms G08B13/00, e.g. G08B13/16
• CPC Class Codes: H04L 65/4038 with floor control
• CPC Class Codes: H04L 65/80 Responding to QoS
• CPC Class Codes: H04N 7/142 Constructional details of the terminal equipment, e.g. arrangements of the camera and the display
• CPC Class Codes: H04N 7/15 Conference systems

Abstract

A loudspeaker transmits an ultrasonic signal into a spatial region. A microphone transduces ultrasonic sound, including an echo of the transmitted ultrasonic signal, received from the spatial region into a received ultrasonic signal. A controller transforms the ultrasonic signal and the received ultrasonic signal into respective time-frequency domains that cover respective ultrasound frequency ranges. The controller computes an error signal, representative of an estimate of an echo-free received ultrasonic signal, based on the transformed ultrasonic signal and the transformed received ultrasonic signal. The controller computes power estimates of the error signal over time, and detects a change in people presence in the spatial region based on a change in the power estimates of the error signal over time.

Claims

1. A method comprising:

transmitting an ultrasonic signal into a spatial region;

transducing ultrasonic sound, including an echo of the transmitted ultrasonic signal, received from the spatial region at a microphone into a received ultrasonic signal;

transforming the ultrasonic signal and the received ultrasonic signal into respective time-frequency domains that cover respective ultrasound frequency ranges;

computing an error signal, representative of an estimate of an echo-free received ultrasonic signal, based on the transformed ultrasonic signal and the transformed received ultrasonic signal;

computing power estimates of the error signal over time; and

detecting a change in people presence in the spatial region over time based on a change in the power estimates of the error signal over time.

2. The method of claim 1, wherein the computing an error signal includes:

adaptively filtering at least one ultrasonic frequency subband of the transformed ultrasonic signal based on a set of adaptive filter coefficients adjusted responsive to the error signal to produce an estimate of the echo in the frequency subband;

differencing the estimated echo and the transformed received ultrasonic signal in at least one of the frequency subbands thereof to produce the error signal; and

feeding-back the error signal to the adaptively filtering operation.

3. The method of claim 2, wherein:

the adaptively filtering includes adaptively filtering multiple ultrasonic frequency subbands of the transformed ultrasonic signal individually to produce a respective estimate of the echo for each frequency subband;

the differencing includes differencing each echo estimate and a corresponding one of multiple frequency subbands of the transformed received ultrasonic signal to produce an error signal for each frequency subband;

the computing power estimates includes repetitively computing a total power estimate based on the error signals across the frequency subbands; and

the detecting includes detecting a change in people presence over time based on a change in the total power estimates computed across the frequency subbands over time.

4. The method of claim 1, wherein:

the computing power estimates includes computing a moving average of power estimates over time, wherein the moving average is based on a current power estimate of the error signal and one or more previous power estimates of the error signal; and

the detecting includes detecting a change in people presence over time based on a change in the moving average over time.

5. The method of claim 4, wherein the detecting includes:

comparing the moving average of power estimates to a moving average power threshold indicative of a change in people presence in the spatial region; and

if the comparing indicates that the moving average of power estimates has changed from a first level below the threshold to a second level equal to or greater than the threshold, then declaring that people are present in the spatial region.

6. The method of claim 5, further comprising:

if it is declared that people are present in the spatial region, issuing one or more commands to wakeup a video conference endpoint that was previously asleep.

7. The method of claim 6, further comprising:

if it is declared that people are present in the spatial region, prior to issuing the one or more commands to wakeup the video conference endpoint, triggering the endpoint to perform face and motion detection in the spatial region; and

issuing the one or more commands to wakeup the endpoint only if the triggered face and motion detection confirms the presence of people in the spatial region.

8. The method of claim 1, wherein the detecting includes:

comparing the power estimates to a power estimate threshold indicative of a change in people presence in the spatial region; and

if the comparing indicates that the power estimates have changed from a first level below the threshold to a second level equal to or greater than the threshold, then declaring people are present in the spatial region.

9. The method of claim 8, further comprising:

if it is declared that people are present in the spatial region, issuing one or more commands to wakeup a video conference endpoint that was previously asleep.

10. The method of claim 1, further comprising:

if the detecting indicates that people are present in the spatial region, issuing a command to wakeup a video camera that was previously asleep so that the video camera is able to capture video of at least a portion of the spatial region.

11. An apparatus comprising:

a loudspeaker configured to transmit an ultrasonic signal into a spatial region;

a microphone configured to transduce ultrasonic sound, including an echo of the transmitted ultrasonic signal, received from the spatial region into a received ultrasonic signal;

a processor coupled to the loudspeaker and the microphone and configured to;

transform the ultrasonic signal and the received ultrasonic signal into respective time-frequency domains;

compute an error signal, representative of an estimate of an echo-free received ultrasonic signal, based on the transformed ultrasound signal and the transformed received ultrasonic signals;

compute power estimates of the error signal over time; and

detect a change in people presence in the spatial region over time based on a change in the power estimates of the error signal over time.

12. The apparatus of claim 11, wherein, to compute the error signal, the processor is configured to:

adaptively filter the transformed ultrasonic signal based on a set of adaptive filter tap weights and the error signal to produce an estimate of the echo;

difference the estimated echo and the transformed received ultrasonic signal to produce the error signal; and

feed-back the error signal to the adaptively filter operation.

13. The apparatus of claim 12, wherein:

the processor is configured to adaptively filter by adaptively filtering multiple ultrasonic frequency subbands of the transformed ultrasonic signal individually to produce a respective estimate of the echo for each frequency subband;

the processor is configured to difference by differencing each echo estimate and a corresponding one of multiple frequency subbands of the transformed received ultrasonic signal to produce an error signal for each frequency subband;

the processor is configured to compute power estimates by;

repetitively computing a total power estimate based on the error signals across the frequency subbands; and

the processor is configured to detect by detecting a change in people presence over time based on a change in the total power estimates computed across the frequency subbands over time.

14. The apparatus of claim 11, wherein:

to compute power estimates, the processor is configured to compute a moving average of power estimates over time, wherein the moving average is based on a current power estimate of the error signal and one or more previous power estimates of the error signal; and

to detect, the processor is configured to detect a change in people presence over time based on a change in the moving average over time.

15. The apparatus of claim 11, wherein the processor is configured to detect by:

comparing the power estimates to a power estimate threshold indicative of a change of people presence in the spatial region;

if the comparing indicates that the power estimates have changed from a first level below the threshold to a second level equal to or greater than the threshold, then declaring people are present in the spatial region.

16. The apparatus of claim 11, further comprising a video camera coupled to the processor, wherein the processor is further configured to:

if the detect operation indicates people are present in the spatial region, issue a wakeup command to the video camera to wakeup if the video camera was previously asleep so that the video camera is able to capture video of at least a portion of the spatial region.

17. A non-transitory processor readable medium storing instructions that, when executed by a processor, cause the processor to:

cause a loudspeaker to transmit an ultrasonic signal into a spatial region;

access a received ultrasonic signal representative of transduced ultrasonic sound, including an echo of the transmitted ultrasonic signal, received from the spatial region at a microphone;

transform the ultrasonic signal and the received ultrasonic signal into respective time-frequency domains that cover respective ultrasound frequency ranges;

compute an error signal, representative of an estimate of an echo-free received ultrasonic signal, based on the transformed ultrasonic signal and the transformed received ultrasonic signal;

compute power estimates of the error signal over time; and

detect a change in people presence in the spatial region over time based on a change in the power estimates of the error signal over time.

18. The processor readable medium of claim 17, wherein the instructions to cause the processor to compute the error signal include instructions to cause the processor to:

adaptively filter at least one ultrasonic frequency subband of the transformed ultrasonic signal based on a set of adaptive filter coefficients adjusted responsive to the error signal to produce an estimate of the echo in the frequency subband;

difference the estimated echo and the transformed received ultrasonic signal in at least one of the frequency subbands thereof to produce the error signal; and

feed-back the error signal to the adaptively filtering operation.

19. The processor readable medium of claim 17, wherein:

the instructions to cause the processor to compute power estimates include instructions to cause the processor to compute a moving average of power estimates over time, wherein the moving average is based on a current power estimate of the error signal and one or more previous power estimates of the error signal; and

the instructions to cause the processor to detect include instructions to cause the processor to detect a change in people presence over time based on a change in the moving average over time.

20. The processor readable medium of claim 19, wherein the instructions to cause the processor to detect include instructions to cause the processor to:

compare the moving average of power estimates to a moving average threshold indicative of people presence in the spatial region; and

if the comparing indicates that the moving average has changed from a first level below the threshold to a second level equal to or greater than the threshold, then declare people are present in the spatial region.