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arXiv · 2609.31699

Normalise or condition? Noise-floor front-ends for on-board keyword spotting under UAV rotor ego-noise

Yida Lin·Bing Xue·Mengjie Zhang·Sam Schofield·Richard Green
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Abstract

A microphone on the airframe of a small multi-rotor UAV is dominated by rotor ego-noise, so spoken flight commands arrive at negative signal-to-noise ratio (SNR). We study small-footprint keyword spotting (KWS) for a ten-word command vocabulary under real ego-noise, training on one quadrotor and testing on another. Besides per-clip accuracy we measure the streaming false-alarm rate on 4.4 h of continuous rotor noise. We compare classical noise-robust front-ends (CMN, PCEN, spectral subtraction), test-time adaptation, and two front-ends that track the per-band ego-noise floor over the two seconds preceding the decision window and either subtract it (normalisation) or feed it to the network as a second input channel (conditioning). Per clip, all front-ends look alike: +2-3 points on average, up to +14 at -15 dB. On continuous rotor noise they differ sharply. Normalising front-ends fire about ten times more often than plain log-mel at the same threshold and end up below it at a budget of one false alarm per hour (-9 points at 0 dB). Conditioning keeps the baseline's false-alarm rate and turns its gain into detections (+8 points at -10 dB over three seeds); on top of PCEN it gives the best per-clip accuracy and false-alarm rate, and a level-anchored variant is also invariant to the microphone gain. Real drone+interferer recordings expose the remaining failure mode, environmental sounds and bystander speech, which training negatives halve. A single script reproduces all on-device numbers on the NVIDIA Jetson Orin NX flight computer, where the complete pipeline costs 3 ms per 100 ms hop on the CPU.

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Yida Lin, Bing Xue, Mengjie Zhang, Sam Schofield, Richard Green. 2026-09-19. Normalise or condition? Noise-floor front-ends for on-board keyword spotting under UAV rotor ego-noise. https://arxiv.org/abs/2609.31699

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