Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays

Kazuhiro Nakadai; Hirofumi Nakajima; Masamitsu Murase; Satoshi Kaijiri; Kentaro Yamada; Takahiro Nakamura; Yuji Hasegawa; Hiroshi G. Okuno; Hiroshi Tsujino

Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays

Kazuhiro Nakadai^*, Hirofumi Nakajima, Masamitsu Murase, Satoshi Kaijiri, Kentaro Yamada, Takahiro Nakamura, Yuji Hasegawa, Hiroshi G. Okuno, Hiroshi Tsujino

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

42 Citations (Scopus)

Abstract

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 originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides 2D (x-y) sound source localization based on a weighted delay-and-sum beamtbrming method. The robot microphone array consists of eight microphones installed on a robot head, and localizes multiple sound sources in azimuth. The localization results are integrated to track sound sources by using a particle filter for multiple sound sources. The experimental results show that particle filter based integration reduces localization errors and provides accurate and robust 2D sound source tracking.

Original language	English
Title of host publication	ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume	4
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006 - Toulouse Duration: 2006 May 14 → 2006 May 19

Other

Other	2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006
City	Toulouse
Period	06/5/14 → 06/5/19

ASJC Scopus subject areas

Electrical and Electronic Engineering
Signal Processing
Acoustics and Ultrasonics

Cite this

Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays. / Nakadai, Kazuhiro; Nakajima, Hirofumi; Murase, Masamitsu et al.

ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. Vol. 4 2006. 1661122.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakadai, K, Nakajima, H, Murase, M, Kaijiri, S, Yamada, K, Nakamura, T, Hasegawa, Y, Okuno, HG & Tsujino, H 2006, Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays. in ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. vol. 4, 1661122, 2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006, Toulouse, 06/5/14.

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author = "Kazuhiro Nakadai and Hirofumi Nakajima and Masamitsu Murase and Satoshi Kaijiri and Kentaro Yamada and Takahiro Nakamura and Yuji Hasegawa and Okuno, {Hiroshi G.} and Hiroshi Tsujino",

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AU - Nakadai, Kazuhiro

AU - Nakajima, Hirofumi

AU - Murase, Masamitsu

AU - Kaijiri, Satoshi

AU - Yamada, Kentaro

AU - Nakamura, Takahiro

AU - Hasegawa, Yuji

AU - Okuno, Hiroshi G.

AU - Tsujino, Hiroshi

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N2 - 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 originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides 2D (x-y) sound source localization based on a weighted delay-and-sum beamtbrming method. The robot microphone array consists of eight microphones installed on a robot head, and localizes multiple sound sources in azimuth. The localization results are integrated to track sound sources by using a particle filter for multiple sound sources. The experimental results show that particle filter based integration reduces localization errors and provides accurate and robust 2D sound source tracking.

AB - 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 originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides 2D (x-y) sound source localization based on a weighted delay-and-sum beamtbrming method. The robot microphone array consists of eight microphones installed on a robot head, and localizes multiple sound sources in azimuth. The localization results are integrated to track sound sources by using a particle filter for multiple sound sources. The experimental results show that particle filter based integration reduces localization errors and provides accurate and robust 2D sound source tracking.

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Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays

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ASJC Scopus subject areas

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