Ears of the robot: Direction of arrival estimation based on pattern recognition using robot-mounted microphones

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    3 Citations (Scopus)


    We propose a new type of direction-of-arrival estimation method for robot audition that is free from strict head related transfer function estimation. The proposed method is based on statistical pattern recognition that employs a ratio of power spectrum amplitudes occurring for a microphone pair as a feature vector. It does not require any phase information explicitly, which is frequently used in conventional techniques, because the phase information is unreliable for the case in which strong reflections and diffractions occur around the microphones. The feature vectors we adopted can treat these influences naturally. The effectiveness of the proposed method was shown from direction-of-arrival estimation tests for 19 kinds of directions: 92.4% of errors were reduced compared with the conventional phase-based method.

    Original languageEnglish
    Pages (from-to)1522-1530
    Number of pages9
    JournalIEICE Transactions on Information and Systems
    Issue number5
    Publication statusPublished - 2008 May



    • Crosspower-spectrum phase
    • Direction-of-arrival estimation
    • Multiple signal classification
    • Pattern recognition
    • Robot audition

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Software
    • Artificial Intelligence
    • Hardware and Architecture
    • Computer Vision and Pattern Recognition

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