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 |
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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 |
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City | Toulouse |
Period | 06/5/14 → 06/5/19 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Signal Processing
- Acoustics and Ultrasonics