Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays

Kazuhiro Nakadai*, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino

*この研究の対応する著者

研究成果: Conference contribution

31 被引用数 (Scopus)

抄録

Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.

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852-859
ページ数8
DOI
出版ステータスPublished - 2006
外部発表はい
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
継続期間: 2006 10 92006 10 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • 制御およびシステム工学

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