標題: Indoor sound field feature matching for robot's location and orientation detection
作者: Hu, Jwu-Sheng
Liu, Wei-Han
Cheng, Chieh-Cheng
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: GMM;robot localization;robot's orientation detection
公開日期: 15-Jan-2008
摘要: In this work, an indoor sound field feature matching method is proposed and is applied to detect a mobile robot's location and orientation. The sound field feature, captured from a sound source to a pair of microphones, contains the dynamic of the propagation path. Because of the complexity of indoor environment, the features from different path can be distinguished using appropriate models. Gaussian mixture models are utilized in this paper to characterize the phase difference and magnitude ratio distributions between the microphone pair in consecutive data frames. The application provides an alternative thinking compared with traditional methods such as direction of arrival (DOA) using propagation delay. They usually suffer from reverberation, non-line-of-sight and microphone mismatch problems. The experimental results show the method not only has a high recognition rate for robot's location and orientation, but also is robust against environmental noise. (c) 2007 Elsevier B.V. All rights reserved.
URI: http://dx.doi.org/10.1016/j.patrec.2007.09.007
http://hdl.handle.net/11536/9768
ISSN: 0167-8655
DOI: 10.1016/j.patrec.2007.09.007
期刊: PATTERN RECOGNITION LETTERS
Volume: 29
Issue: 2
起始頁: 149
結束頁: 160
Appears in Collections:Articles


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