Sound source localization with the aid of excitation source information in home robot environments

被引:27
作者
Kwak, Keun-Chang [1 ]
Kim, Sung-Suk [2 ]
机构
[1] Chosun Univ, Dept Control Instrumentat & Robot Engn, Kwangju, South Korea
[2] Chungbuk Natl Univ, Sch Elect & Elect Engn, Cheongju, South Korea
关键词
sound source localization; excitation source information; reliable angle estimation; home robots; human-robot interaction;
D O I
10.1109/TCE.2008.4560170
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper is concerned with multiple microphone-based sound source localization in home robot environments. For this purpose, we use the excitation source information to determine the time-delay between each two microphones from speech source when robot's name is called. Furthermore, we present a novel method to estimate the reliable localization angle from the obtained time-delay values. Thus, it can be used as a core technique in conjunction with human-robot interaction that can naturally interact between human and robots in home robot applications. The experimental results on sound localization database revealed that the presented method showed a good performance in comparison with the conventional methods such as time difference of arrival (TDOA) and generalized cross correlation-phase transform (GCC-PHAT) in distant-varying, noise and reverberant environments.
引用
收藏
页码:852 / 856
页数:5
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