Localization of simultaneous moving sound sources for mobile robot using a frequency-domain steered beamformer approach

被引：74
|
作者：
Valin, JM [1 ]
Michaud, F [1 ]
Hadjou, B [1 ]
Rouat, J [1 ]
机构：
[1] Univ Sherbrooke, Dept Elect Engn & Comp Engn, LABORIUS Res Lab Mobile Robot & Intelligent Syst, Sherbrooke, PQ J1K 2R1, Canada
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307286
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. In this paper we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.
引用
收藏
页码：1033 / 1038
页数：6
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