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.
|ホスト出版物のタイトル||IEEE International Conference on Intelligent Robots and Systems|
|出版ステータス||Published - 2006|
|イベント||2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing|
継続期間: 2006 10月 9 → 2006 10月 15
|Other||2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006|
|Period||06/10/9 → 06/10/15|
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