DOA estimation method based on sparseness of speech sources for human symbiotic robots

In this paper, direction of arrival (DOA) estimation methods (both azimuth and elevation) based on sparseness of human speech, "modified delay-and-sum beamformer based on sparseness (MDSBF)" and "stepwise phase difference restoration (SPIRE)", are introduced for human symbiotic robots. MDSBF can achieve good DOA estimation, whose computational cost is proportional to resolution of azimuth and elevation space. DOA estimation result of SPIRE is less accurate than that of MDSBF, but computational cost is independent of resolution. To achieve more accurate DOA estimation result than SPIRE with small computational cost, we propose a novel DOA estimation method which is combination of MDSBF and SPIRE. In the proposed method, MDSBF with rough resolution is performed prior to SPIRE execution, and SPIRE precisely estimates DOA of sources after MDSBF. Experimental results show that sparseness based methods are superior to conventional methods. The proposed combination method achieved more accurate DOA estimation result than SPIRE with smaller computational cost than MDSBF.