Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers

Hyun Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

We propose a way to evaluate various sound localization systems for moving sounds under the same conditions. To construct a database for moving sounds, we developed a moving sound creation tool using the API library developed by the ARINIS Company. We developed a two-channel-based sound source localization system integrated with a cross-power spectrum phase (CSP) analysis and EM algorithm. The CSP of sound signals obtained with only two microphones is used to localize the sound source without having to use prior information such as impulse response data. The EM algorithm helps the system cope with several moving sound sources and reduce localization error. We evaluated our sound localization method using artificial moving sounds and confirmed that it can well localize moving sounds slower than 1.125 rad/sec. Finally, we solve the problem of distinguishing whether sounds are coming from the front or back by rotating a robot's head equipped with only two microphones. Our system was applied to a humanoid robot called SIG2, and we confirmed its ability to localize sounds over the entire azimuth range.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2197-2203
Number of pages7
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, H. D., Komatani, K., Ogata, T., & Okuno, H. G. (2008). Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2197-2203). [4650947] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650947