Localization of Simultaneous Moving Sound Sources for Mobile Robot Using a Frequency-Domain Steered Beamformer Approach
arXiv:1602.08629 · doi:10.1109/ROBOT.2004.1307286
Abstract
Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. In this paper we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.
arXiv comment6 pages. arXiv admin note: substantial text overlap with arXiv:1602.08139
References in corpus (2)
Cited by in corpus (11)
- Robust Localization and Tracking of Simultaneous Moving Sound Sources Using Beamforming and Particle Filtering
- Enhanced Robot Audition Based on Microphone Array Source Separation with Post-Filter
- Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering
- Robust Recognition of Simultaneous Speech By a Mobile Robot
- SALSA: Spatial Cue-Augmented Log-Spectrogram Features for Polyphonic Sound Event Localization and Detection
- A Sequence Matching Network for Polyphonic Sound Event Localization and Detection
- Reverberant Sound Localization with a Robot Head Based on Direct-Path Relative Transfer Function
- Auditory System for a Mobile Robot
- A General Network Architecture for Sound Event Localization and Detection Using Transfer Learning and Recurrent Neural Network
- What Makes Sound Event Localization and Detection Difficult? Insights from Error Analysis
- A Review of Verbal and Non-Verbal Human-Robot Interactive Communication