Development of microphone-array-embedded UAV for search and rescue task

Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Kotaro Hoshiba, Mizuho Wakabayashi, Kai Washizaki, Takahiro Ishiki, Daniel Gabriel, Yoshiaki Bando, Takayuki Morito, Ryosuke Kojima, Osamu Sugiyama

    研究成果: Conference contribution

    24 被引用数 (Scopus)

    抄録

    This paper addresses online outdoor sound source localization using a microphone array embedded in an unmanned aerial vehicle (UAV). In addition to sound source localization, sound source enhancement and robust communication method are also described. This system is one instance of deployment of our continuously developing open source software for robot audition called HARK (Honda Research Institute Japan Audition for Robots with Kyoto University). To improve the robustness against outdoor acoustic noise, we propose to combine two sound source localization methods based on MUSIC (multiple signal classification) to cope with trade-off between latency and noise robustness. The standard Eigenvalue decomposition based MUSIC (SEVD-MUSIC) has smaller latency but less noise robustness, whereas the incremental generalized singular value decomposition based MUSIC (iGSVD-MUSIC) has higher noise robustness but larger latency. A UAV operator can use an appropriate method according to the situation. A sound enhancement method called online robust principal component analysis (ORPCA) enables the operator to detect a target sound source more easily. To improve the stability of wireless communication, and robustness of the UAV system against weather changes, we developed data compression based on free lossless audio codec (FLAC) extended to support a 16 ch audio data stream via UDP, and developed a water-resistant microphone array. The resulting system successfully worked in an outdoor search and rescue task in ImPACT Tough Robotics Challenge in November 2016.

    本文言語English
    ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ5985-5990
    ページ数6
    2017-September
    ISBN(電子版)9781538626825
    DOI
    出版ステータスPublished - 2017 12 13
    イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
    継続期間: 2017 9 242017 9 28

    Other

    Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    国/地域Canada
    CityVancouver
    Period17/9/2417/9/28

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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