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

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

34 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 languageEnglish
Title of host publicationICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume4
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006 - Toulouse
Duration: 2006 May 142006 May 19

Other

Other2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006
CityToulouse
Period06/5/1406/5/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Signal Processing
  • Acoustics and Ultrasonics

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  • Cite this

    Nakadai, K., Nakajima, H., Murase, M., Kaijiri, S., Yamada, K., Nakamura, T., Hasegawa, Y., Okuno, H. G., & 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]