Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays

Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Satoshi Kaijiri, Kentaro Yamada, Takahiro Nakamura, Yuji Hasegawa, Hiroshi G. Okuno, Hiroshi Tsujino

研究成果: Conference contribution

36 被引用数 (Scopus)

抄録

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 originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides 2D (x-y) sound source localization based on a weighted delay-and-sum beamtbrming method. The robot microphone array consists of eight microphones installed on a robot head, and localizes multiple sound sources in azimuth. The localization results are integrated to track sound sources by using a particle filter for multiple sound sources. The experimental results show that particle filter based integration reduces localization errors and provides accurate and robust 2D sound source tracking.

本文言語English
ホスト出版物のタイトルICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
4
出版ステータスPublished - 2006
外部発表はい
イベント2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006 - Toulouse
継続期間: 2006 5 142006 5 19

Other

Other2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006
CityToulouse
Period06/5/1406/5/19

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 信号処理
  • 音響学および超音波学

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