DocumentCode :
455379
Title :
Robust Tracking of Multiple Sound Sources by Spatial Integration of Room And Robot Microphone Arrays
Author :
Nakadai, Kazuhiro ; Nakajima, Hirofumi ; Murase, Masamitsu ; Kaijiri, Satoshi ; Yamada, Kentaro ; Nakamura, Takahiro ; Hasegawa, Yuji ; Okuno, Hiroshi G. ; Tsujino, Hiroshi
Author_Institution :
Honda Res. Inst. Japan Co. Ltd., Saitame
Volume :
4
fYear :
2006
fDate :
14-19 May 2006
Abstract :
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 beamforming 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
Keywords :
acoustic signal processing; array signal processing; microphone arrays; mobile robots; particle filtering (numerical methods); 2D sound source localization; localization errors; multiple sound sources; particle filter; robot microphone array; robust 2D sound source tracking; robust tracking; room microphone array; spatial integration; weighted delay-and-sum beamforming method; Array signal processing; Azimuth; Delay; Microphone arrays; Music; Particle filters; Particle tracking; Robots; Robustness; Speech recognition;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Acoustics, Speech and Signal Processing, 2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on
Conference_Location :
Toulouse
ISSN :
1520-6149
Print_ISBN :
1-4244-0469-X
Type :
conf
DOI :
10.1109/ICASSP.2006.1661122
Filename :
1661122
Link To Document :
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