A Sound Source Tracking System Based on Robot Hearing and Vision

Author

Lv, Xiaoling ; Zhang, Minglu ; Liu, Xuan

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin

Volume

1

fYear

2008

fDate

12-14 Dec. 2008

Firstpage

1119

Lastpage

1122

Abstract

A novel sound source tracking system was proposed in this paper. The system is composed of a robot which has a microphone array corresponding to humanpsilas ears and 2-CCD cameras corresponding to humanpsilas eyes. The robot can realize sound source localization by hearing, and then judge the source whether it is our target or not by vision. If it is our target, the robot can track it using vision module. The system is computationally efficient and physically compact, thus suitable for mobile robots. The method is proved accurate and efficient enough for real-time operation.

Keywords

CCD image sensors; acoustic signal processing; microphone arrays; robot vision; CCD cameras; microphone array; mobile robots; robot hearing; robot vision; sound source tracking system; Auditory system; Computational complexity; Delay effects; Delay estimation; Mechanical engineering; Microphone arrays; Mobile robots; Position measurement; Robot vision systems; Target tracking; hearing; robot; sound source tracking; vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Software Engineering, 2008 International Conference on

Conference_Location

Wuhan, Hubei

Print_ISBN

978-0-7695-3336-0

Type

conf

DOI

10.1109/CSSE.2008.766

Filename

4721949