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dc.contributor.authorHu, Jwu-Shengen_US
dc.contributor.authorChan, Chen-Yuen_US
dc.contributor.authorWang, Cheng-Kangen_US
dc.contributor.authorWang, Chieh-Chihen_US
dc.date.accessioned2014-12-08T15:23:13Z-
dc.date.available2014-12-08T15:23:13Z-
dc.date.issued2009en_US
dc.identifier.isbn978-1-4244-2788-8en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/11536/16291-
dc.description.abstractSound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments is described. A method to compute the far field source directions as well as the speed of sound using the estimated time delays is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearings-only SLAM procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown which is solved using FastSLAM. The experimental results demonstrate the effectiveness of the proposed approaches.en_US
dc.language.isoen_USen_US
dc.titleSimultaneous Localization of Mobile Robot and Multiple Sound Sources Using Microphone Arrayen_US
dc.typeProceedings Paperen_US
dc.identifier.journalICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7en_US
dc.citation.spage4004en_US
dc.citation.epage4009en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000276080402027-
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