Hyun-Don Kim Kazunori Komatani Tetsuya Ogata Hiroshi G. Okuno Two-channel-based voice activity detection for humanoid robots in noisy home environments. 3495-3501 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543745 conf/icra/2008 db/conf/icra/icra2008.html#KimKOO08