Multiple moving speaker tracking by microphone array on mobile robot

Masamitsu Murase, Shunichi Yamamoto, Jean Marc Valin, Kazuhiro Nakadai, Kentaro Yamada, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

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

15 Citations (Scopus)

Abstract

Real-world applications often require tracking multiple moving speakers for improving human-robot interactions and/or sound source separation. This paper presents multiple moving speaker tracking using an 8ch microphone array system installed on a mobile robot. This problem is difficult because the system does not assume that sound sources and/or the microphone array are fixed. Our solutions consist of two key ideas - time delay of arrival estimation, and multiple Kalman filters. The former localizes multiple sound sources based on beamforming in real time. Non-linear movements are tracked by using a set of Kalman filters with different history lengths in order to reduce errors in tracking multiple moving speakers under noisy and echoic environments. For quantitative evaluation of the tracking, motion references of sound sources and a mobile robot, called SIG2, were measured accurately by ultrasonic 3D tag sensors. As a result, we showed that the system tracked three simultaneous sound sources even when SIG2 moved in a room with large reverberation due to glass walls.

Original languageEnglish
Title of host publication9th European Conference on Speech Communication and Technology
Pages249-252
Number of pages4
Publication statusPublished - 2005
Externally publishedYes
Event9th European Conference on Speech Communication and Technology - Lisbon
Duration: 2005 Sep 42005 Sep 8

Other

Other9th European Conference on Speech Communication and Technology
CityLisbon
Period05/9/405/9/8

Fingerprint

Microphones
Mobile robots
Acoustic waves
Kalman filters
Source separation
Human robot interaction
Reverberation
Beamforming
Time delay
Ultrasonics
Glass
Sensors

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Murase, M., Yamamoto, S., Valin, J. M., Nakadai, K., Yamada, K., Komatani, K., ... Okuno, H. G. (2005). Multiple moving speaker tracking by microphone array on mobile robot. In 9th European Conference on Speech Communication and Technology (pp. 249-252)

Multiple moving speaker tracking by microphone array on mobile robot. / Murase, Masamitsu; Yamamoto, Shunichi; Valin, Jean Marc; Nakadai, Kazuhiro; Yamada, Kentaro; Komatani, Kazunori; Ogata, Tetsuya; Okuno, Hiroshi G.

9th European Conference on Speech Communication and Technology. 2005. p. 249-252.

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

Murase, M, Yamamoto, S, Valin, JM, Nakadai, K, Yamada, K, Komatani, K, Ogata, T & Okuno, HG 2005, Multiple moving speaker tracking by microphone array on mobile robot. in 9th European Conference on Speech Communication and Technology. pp. 249-252, 9th European Conference on Speech Communication and Technology, Lisbon, 05/9/4.
Murase M, Yamamoto S, Valin JM, Nakadai K, Yamada K, Komatani K et al. Multiple moving speaker tracking by microphone array on mobile robot. In 9th European Conference on Speech Communication and Technology. 2005. p. 249-252
Murase, Masamitsu ; Yamamoto, Shunichi ; Valin, Jean Marc ; Nakadai, Kazuhiro ; Yamada, Kentaro ; Komatani, Kazunori ; Ogata, Tetsuya ; Okuno, Hiroshi G. / Multiple moving speaker tracking by microphone array on mobile robot. 9th European Conference on Speech Communication and Technology. 2005. pp. 249-252
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