標題: Simultaneous Localization of a Mobile Robot and Multiple Sound Sources Using a Microphone Array
作者: Hu, Jwu-Sheng
Chan, Chen-Yu
Wang, Cheng-Kang
Lee, Ming-Tang
Kuo, Ching-Yi
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Sound source localization;microphone array;time delay estimation;bearing-only SLAM;generalized cross correlation
公開日期: 2011
摘要: Sound source localization is an important function in robot audition. Most 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. Using the estimated time delays, a method to compute the far-field source directions as well as the speed of sound 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 bearing-only simultaneous localization and mapping procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown and it is solved using the FastSLAM algorithm. The experimental results demonstrate the effectiveness of the proposed method. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
URI: http://hdl.handle.net/11536/26160
http://dx.doi.org/10.1163/016918610X538525
ISSN: 0169-1864
DOI: 10.1163/016918610X538525
期刊: ADVANCED ROBOTICS
Volume: 25
Issue: 1-2
起始頁: 135
結束頁: 152
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