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dc.contributor.authorHu, Jwu-Shengen_US
dc.contributor.authorChan, Chen-Yuen_US
dc.contributor.authorWang, Cheng-Kangen_US
dc.contributor.authorLee, Ming-Tangen_US
dc.contributor.authorKuo, Ching-Yien_US
dc.date.accessioned2014-12-08T15:38:08Z-
dc.date.available2014-12-08T15:38:08Z-
dc.date.issued2011en_US
dc.identifier.issn0169-1864en_US
dc.identifier.urihttp://hdl.handle.net/11536/26160-
dc.identifier.urihttp://dx.doi.org/10.1163/016918610X538525en_US
dc.description.abstractSound 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, 2011en_US
dc.language.isoen_USen_US
dc.subjectSound source localizationen_US
dc.subjectmicrophone arrayen_US
dc.subjecttime delay estimationen_US
dc.subjectbearing-only SLAMen_US
dc.subjectgeneralized cross correlationen_US
dc.titleSimultaneous Localization of a Mobile Robot and Multiple Sound Sources Using a Microphone Arrayen_US
dc.typeArticleen_US
dc.identifier.doi10.1163/016918610X538525en_US
dc.identifier.journalADVANCED ROBOTICSen_US
dc.citation.volume25en_US
dc.citation.issue1-2en_US
dc.citation.spage135en_US
dc.citation.epage152en_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:000286011700007-
dc.citation.woscount3-
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