Acoustic monitoring of the great reed warbler using multiple microphone arrays and robot audition

Shiho Matsubayashi, Reiji Suzuki, Fumiyuki Saito, Tatsuyoshi Murate, Tomohisa Masuda, Koichi Yamamoto, Ryosuke Kojima, Kazuhiro Nakadai, Hiroshi G. Okuno

    Research output: Contribution to journalArticlepeer-review

    12 Citations (Scopus)


    This paper reports the results of our field test of HARKBird, a portable system that consists of robot audition, a laptop PC, and omnidirectional microphone arrays. We assessed its localization accuracy to monitor songs of the great reed warbler (Acrocephalus arundinaceus) in time and two-dimensional space by comparing locational and temporal data collected by human observers and HARKBird. Our analysis revealed that stationarity of the singing individual affected the spatial accuracy. Temporally, HARKBird successfully captured the exact song duration in seconds, which cannot be easily achieved by human observers. The data derived from HARKBird suggest that one of the warbler males dominated the sound space. Given the assumption that the cost of the singing activity is represented by song duration in relation to the total recording session, this particular male paid a higher cost of singing, possibly to win the territory of best quality. Overall, this study demonstrated the high potential of HARKBird as an effective alternative to the point count method to survey bird songs in the field.

    Original languageEnglish
    Pages (from-to)224-235
    Number of pages12
    JournalJournal of Robotics and Mechatronics
    Issue number1
    Publication statusPublished - 2017 Feb 1


    • Acoustic monitoring
    • HARKBird
    • Microphone arrays
    • Robot audition
    • The great reed warbler

    ASJC Scopus subject areas

    • Computer Science(all)
    • Electrical and Electronic Engineering


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