Active stereo sound localization

Reid, Greg; Milios, Evangelos

doi:10.1121/1.1518469

Cited by 18 publications

(8 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Active audition has often been used with a single moving robot to estimate the position of a sound source. Reid and Milios [12], for example, developed a robot that estimates the 3D position of a sound source by moving two microphones. Sasaki et al [13] developed a mobile robot that has a microphone array and estimates the positions of multiple sound sources.…”

Section: Active Auditionmentioning

confidence: 99%

Layout Optimization of Cooperative Distributed Microphone Arrays Based on Estimation of Source Separation Performance

Sekiguchi¹,

Bando²,

Itoyama³

et al. 2017

J. Robot. Mechatron.

View full text Add to dashboard Cite

[abstFig src='/00290001/08.jpg' width='300' text='Optimizing robot positions for source separation' ] The active audition method presented here improves source separation performance by moving multiple mobile robots to optimal positions. One advantage of using multiple mobile robots that each has a microphone array is that each robot can work independently or as part of a big reconfigurable array. To determine optimal layout of the robots, we must be able to predict source separation performance from source position information because actual source signals are unknown and actual separation performance cannot be calculated. Our method thus simulates delay-and-sum beamforming from a possible layout to calculate gain theoretically, i.e., the expected ratio of a target sound source to other sound sources in the corresponding separated signal. Robots are moved into the layout with the highest average gain over target sources. Experimental results showed that our method improved the harmonic mean of signal-to-distortion ratios (SDRs) by 5.5 dB in simulation and by 3.5 dB in a real environment.

show abstract

Section: Active Auditionmentioning

confidence: 99%

Layout Optimization of Cooperative Distributed Microphone Arrays Based on Estimation of Source Separation Performance

Sekiguchi¹,

Bando²,

Itoyama³

et al. 2017

J. Robot. Mechatron.

View full text Add to dashboard Cite

show abstract

“…This stereo disparity is used to determine the direction of an audio sound source [17, 18]. The direction of the source relative to the microphone baseline, 0, can be found as follows:…”

Section: Sound Localization To Disambiguate Goalsmentioning

confidence: 99%

Active Sound Localization in a Symmetric Environment

Brindza

Thomas

Lee

et al. 2013

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Localization for humanoid robots becomes difficult when events that disrupt robot positioning information occur. This holds especially true in symmetric environments because landmark data may not be sufficient to determine orientation. We propose a system of localizing humanoid robots in a known, symmetric environment using a Rao-Blackwellized particle filter and a sound localization system. This system was used in the RoboCup Standard Platform League, and has been found to reduce the amount of own-goals scored as compared with the previously used localization system without sound

show abstract

“…Common and well understood methods are time delay of arrival (TDOA), beam forming, MUSIC, Maximum likelihood method, and many more [14,23,6,18,20]. These methods show a good accuracy determining the direction of a sound source within a few degrees.…”

Section: Soundmentioning

confidence: 99%