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 |
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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月 9 → 2006 10月 15 |
Other
Other | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
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City | Beijing |
Period | 06/10/9 → 06/10/15 |
ASJC Scopus subject areas
- 制御およびシステム工学