Title :
Active binaural localization of intermittent moving sources in the presence of false measurements
Author :
Portello, Alban ; Danès, Patrick ; Argentieri, Sylvain
Author_Institution :
LAAS, Toulouse, France
Abstract :
This paper takes place within the field of active sound source localization in a binaural context. A stochastic filtering strategy is presented for the localization of a still or moving source from a moving binaural sensor. The proposed method accounts for the source intermittence as well as for false measurements induced by the non-stationarity of the emitted signal. Its effectiveness is showed on experimental results.
Keywords :
acoustic generators; acoustic signal detection; filtering theory; intelligent robots; mobile robots; sensor placement; active binaural localization; active sound source localization field; false measurement; intermittent moving sources; moving binaural sensor; moving source localization; signal emission; source intermittence; stochastic filtering strategy; Equations; Mathematical model; Noise; Noise measurement; Probability density function; Switches; Time measurement;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385967
