Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays

Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino

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

31 Citations (Scopus)

Abstract

Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages852-859
Number of pages8
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
Duration: 2006 Oct 92006 Oct 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays'. Together they form a unique fingerprint.

  • Cite this

    Nakadai, K., Nakajima, H., Murase, M., Okuno, H. G., Hasegawa, Y., & Tsujino, H. (2006). Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays. In IEEE International Conference on Intelligent Robots and Systems (pp. 852-859). [4058468] https://doi.org/10.1109/IROS.2006.281737