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 |
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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; Kaijiri, Satoshi; Yamada, Kentaro; Nakamura, Takahiro; Hasegawa, Yuji; Okuno, Hiroshi G.; Tsujino, Hiroshi.
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
}
TY - GEN
T1 - Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays
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
PY - 2006
Y1 - 2006
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.
UR - http://www.scopus.com/inward/record.url?scp=33947673793&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33947673793&partnerID=8YFLogxK
M3 - Conference contribution
SN - 142440469X
SN - 9781424404698
VL - 4
BT - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
ER -