Improved sound source localization and front-back disambiguation for humanoid robots with two ears

Ui Hyun Kim, Kazuhiro Nakadai, Hiroshi G. Okuno

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

An improved sound source localization (SSL) method has been developed that is based on the generalized cross-correlation (GCC) method weighted by the phase transform (PHAT) for use with humanoid robots equipped with two microphones inside artificial pinnae. The conventional SSL method based on the GCC-PHAT method has two main problems when used on a humanoid robot platform: 1) diffraction of sound waves with multipath interference caused by the shape of the robot head and 2) front-back ambiguity. The diffraction problem was overcome by incorporating a new time delay factor into the GCC-PHAT method under the assumption of a spherical robot head. The ambiguity problem was overcome by utilizing the amplification effect of the pinnae for localization over the entire azimuth. Experiments conducted using a humanoid robot showed that localization errors were reduced by 9.9° on average with the improved method and that the success rate for front-back disambiguation was 32.2% better on average over the entire azimuth than with a conventional HRTF-based method.

本文言語English
ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ページ282-291
ページ数10
7906 LNAI
DOI
出版ステータスPublished - 2013
外部発表はい
イベント26th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2013 - Amsterdam
継続期間: 2013 6 172013 6 21

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
7906 LNAI
ISSN(印刷版)03029743
ISSN(電子版)16113349

Other

Other26th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2013
CityAmsterdam
Period13/6/1713/6/21

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 理論的コンピュータサイエンス

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