Epipolar geometry based sound localization and extraction for humanoid audition

Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano

研究成果: Conference contribution

41 被引用数 (Scopus)

抄録

Sound localization for a robot or an embedded system is usually solved by using Interaural Phase Difference (IPD) and Interaural Intensity Difference (IID). These values are calculated by using Head-Related Transfer Function (HRTF). However, HRTF depends on the shape of head and also changes as environments changes. Therefore, sound localization without HRTF is needed for real-world applications. In this paper, we present a new sound localization method based on auditory epipolar geometry with motion control. Auditory epipolar geometry is an extension of epipolar geometry in stereo vision to audition, and auditory and visual epipolar geometry can share the sound source direction. The key idea is to exploit additional inputs obtained by motor control in order to compensate damages in the IPD and IID caused by reverberation of the room and the body of a robot. The proposed system can localize and extract simultaneous two sound sources in a real-world room.

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1395-1401
ページ数7
3
出版ステータスPublished - 2001
外部発表はい
イベント2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI
継続期間: 2001 10 292001 11 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

  • Control and Systems Engineering

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