Circular microphone array for robot's audition

Tamai, Y.; Kagami, Satoshi; Amemiya, Y.; Sasaki, Yoko; Mizoguchi, Hiroshi; Takano, Tsuyoshi

doi:10.1109/icsens.2004.1426228

Cited by 11 publications

(1 citation statement)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…SSL has been achieved by using microphone arrays with more than two microphones [38,45,47,48,50]. The accuracy of the localization techniques based on microphone arrays is dictated by their physical sizes [5,12,56].…”

Section: Introductionmentioning

confidence: 99%

Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array

Gala

Lindsay

Sun

2018

J Intell Robot Syst

View full text Add to dashboard Cite

the date of receipt and acceptance should be inserted laterThis work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed self-rotational bi-microphone robotic platform. The system dynamics is established in the spherical coordinate frame using a state-space model. The observability analysis of the state-space model shows that the system is unobservable when the sound source is placed with elevation angles of 90 and 0 degree. The proposed method utilizes the difference between the azimuth estimates resulting from respectively the 3D and the two-dimensional models to check the zero-degreeelevation condition and further estimates the elevation angle using a polynomial curve fitting approach. Also, the proposed method is capable of detecting a 90-degree elevation by extracting the zero-ITD signal 'buried' in noise. Additionally, a distance localization is performed by first rotating the microphone array to face toward the sound source and then shifting the microphone perpendicular to the source-robot vector by a predefined distance of a fixed number of steps. The integrated rotational and translational motions of the microphone array provide a complete orientation and distance localization using only the ITD cue. A novel robotic platform using a self-rotational bi-microphone array was also developed for unmanned ground robots performing sound source localization. The proposed technique was first tested in simulation and was then verified on the newly-developed robotic platform. Experimental data collected by the microphones installed on a KEMAR

show abstract

Section: Introductionmentioning

confidence: 99%

Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array

Gala

Lindsay

Sun

2018

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

Robot localization method by acoustical signal identification

Manzanares

Guerra

Bolea

et al. 2009

2009 IEEE Conference on Emerging Technologies &Amp; Factory Automation

View full text Add to dashboard Cite

Non-speech audio is a non-explored characteristic in robot localization but due to its potentiality it can yield a valuable information together with other sensorial systems. In this work, a novel robot localization method is proposed based on audio signal pattern recognition with extracted features from signal identification. To reinforce the localization, avoiding ambiguity and reducing uncertainty, a sensorial system is used aboard the robot to compute the angle between itself and the sound source. This method can be generalized to any non-speech sound signal because the acoustical meaning and the room geometry are related.

show abstract

New approach on bearing-only SLAM for indoor environments

et al. 2011

View full text Add to dashboard Cite

In this paper a novel Simultaneous Localization andMapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group's works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.

show abstract

Circular microphone array for robot's audition

Cited by 11 publications

References 4 publications

Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array

Realtime Active Sound Source Localization for Unmanned Ground Robots Using a Self-Rotational Bi-Microphone Array

Robot localization method by acoustical signal identification

New approach on bearing-only SLAM for indoor environments

Contact Info

Product

Resources

About