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.
|ホスト出版物のタイトル||ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings|
|出版ステータス||Published - 2006|
|イベント||2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006 - Toulouse|
継続期間: 2006 5 14 → 2006 5 19
|Other||2006 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2006|
|Period||06/5/14 → 06/5/19|
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