Multiple Sound Source Mapping for a Mobile Robot by Self-motion Triangulation

The paper describes a 2D sound source mapping system for a mobile robot. We developed a multiple sound sources localization method for a mobile robot with a 32 channel concentric microphone array. The system can separate multiple moving sound sources using direction localization. Directional localization and separation of different pressure sound sources is achieved using the delay and sum beam forming (DSBF) and the frequency band selection (FBS) algorithm. Sound sources were mapped by using a wheeled robot equipped with the microphone array. The robot localizes sounds direction on the move and estimates sound sources position using triangulation. Assuming the movement of sound sources, the system set a time limit and uses only the last few seconds data. By using the random sample consensus (RANSAC) algorithm for position estimation, we achieved 2D multiple sound source mapping from time limited data with high accuracy. Also, moving sound source separation is experimentally demonstrated with segments of the DSBF enhanced signal derived from the localization process