Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers

Hyun Don Kim, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

研究成果: Conference contribution

6 引用 (Scopus)

抜粋

We propose a way to evaluate various sound localization systems for moving sounds under the same conditions. To construct a database for moving sounds, we developed a moving sound creation tool using the API library developed by the ARINIS Company. We developed a two-channel-based sound source localization system integrated with a cross-power spectrum phase (CSP) analysis and EM algorithm. The CSP of sound signals obtained with only two microphones is used to localize the sound source without having to use prior information such as impulse response data. The EM algorithm helps the system cope with several moving sound sources and reduce localization error. We evaluated our sound localization method using artificial moving sounds and confirmed that it can well localize moving sounds slower than 1.125 rad/sec. Finally, we solve the problem of distinguishing whether sounds are coming from the front or back by rotating a robot's head equipped with only two microphones. Our system was applied to a humanoid robot called SIG2, and we confirmed its ability to localize sounds over the entire azimuth range.

元の言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2197-2203
ページ数7
DOI
出版物ステータスPublished - 2008 12 1
外部発表Yes
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
France
Nice
期間08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Kim, H. D., Komatani, K., Ogata, T., & Okuno, H. G. (2008). Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers. : 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2197-2203). [4650947] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650947