Applying Scattering Theory to Robot Audition System: Robust Sound Source Localization and Extraction

Kazuhiro Nakadai*, Daisuke Matsuura, Hiroshi G. Okuno, Hiroaki Kitano

*この研究の対応する著者

研究成果: Conference contribution

73 被引用数 (Scopus)

抄録

Robot audition by its own ears (microphones) is essential for natural human-robot communication and interface. Since a microphone is embedded in the head of a robot, the head-related transfer function (HRTF) plays an important role in sound source localization and extraction. Usually, from binaural input, the interaural phase difference (IPD) and interaural intensity difference (IID) are calculated, and then the direction is determined by using IPD and IID with HRTF. The problem of HRTF-based sound source localization is that a HRTF should be measured for each robot in an anechoic chamber, because it depends on the shape of robot's head; HRTF should be interpolated to manipulate a moving talker, because it is available only for discrete azimuth and elevation. To cope with these problems of HRTF, we proposed the auditory epipolar geometry as a continuous function of IPD and IID to dispense with HRTF and have developed a real-time multiple-talker tracking system. This auditory epipolar geometry, however, does not give a good approximation to IID of all range and IPD of peripheral areas. In this paper, the scattering theory in physics is employed to take into consideration the diffraction of sounds around robot's head for better approximation of IID and IPD. The resulting system shows that it is efficient for localization and extraction of sound at higher frequency and from side directions.

本文言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ1147-1152
ページ数6
2
出版ステータスPublished - 2003
外部発表はい
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV
継続期間: 2003 10 272003 10 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学

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