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Talker Tracking Display On Autonomous Mobile Robot With A Moving Microphone Array
http://hdl.handle.net/10061/8023
http://hdl.handle.net/10061/8023b0711435-8f61-4dea-8777-0963ba3af2af
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
fulltext (731.5 kB)
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| アイテムタイプ | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2012-08-22 | |||||
| タイトル | ||||||
| タイトル | Talker Tracking Display On Autonomous Mobile Robot With A Moving Microphone Array | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ | conference paper | |||||
| アクセス権 | ||||||
| アクセス権 | open access | |||||
| 著者 |
Nishiura, Takanobu
× Nishiura, Takanobu× Nakamura, Masaya× Lee, Akinobu× Saruwatari, Hiroshi× Shikano, Kiyohiro |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | A microphone array is the most effective technique for hands-free speech communication with a robot. However, it is known that the estimation accuracy of the sound source direction degrades under reverberant conditions. The estimation of the source direction is difficult under highly reverberant conditions even if the CSP (Cross-power Spectrum Phase analysis)-based method, which is one of the conventional methods for the estimation of source directions, is used. Therefore, it is necessary to use a method for source-direction estimation which is robust against reverberation when the microphone array is carried on an autonomous mobile robot.In this paper, we propose a new reverberation-robust method for the estimation of sound-source directions based on the synchronous addition of CSP coefficients obtained by a circular microphone array. Also, we propose a sound-source localization method that improves the localization accuracy by using the moving microphone array on an autonomous mobile robot. To evaluate the proposed method, the source-localization accuracy of the moving microphone array was quantified by computer simulation. We also carried out an experiment in which a mobile robot approached a talker by using only information on the source localization.The results show that the proposed method can estimate the sound-source location accurately and that the robot can approach the talker even under the condition that the reverberation time is 0.85 sec. | |||||
| 書誌情報 |
p. 1-4, 発行日 2002-07 |
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| 会議情報 | ||||||
| 会議名 | ICAD2002: the 8th International Conference on Auditory Display | |||||
| 開催期間 | July 2-5, 2002 | |||||
| 開催地 | Kyoto Japan | |||||
| 開催国 | JPN | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
