TY - GEN
T1 - A spatial sound localization system for mobile robots
AU - Li, Huakang
AU - Yosiara, Takuya
AU - Zhao, Qunfei
AU - Watanabe, Teppei
AU - Huang, Jie
PY - 2007
Y1 - 2007
N2 - In this paper, we described a robotic spatial sound localization system using four microphones arranged on the surface of a sphercial robot head. The four microphones, with three on the head center level and one on the top, provide spatial cues for sound elevation as well as azimuth. A weighted cross-correlation method based on the model of the precedence effect is used to calculate the time differences and suppress the influence of echoes. To integrate spatial cues of different microphone pairs, a mapping method from the correlation between different microphone pairs to a 2-D map corresponding to azimuth and elevation of sound sources was proposed. Experiments shows the system can provide the distribution of sound sources in azimuth-elevation space for sound sources, even concurrently in reverberant environments.
AB - In this paper, we described a robotic spatial sound localization system using four microphones arranged on the surface of a sphercial robot head. The four microphones, with three on the head center level and one on the top, provide spatial cues for sound elevation as well as azimuth. A weighted cross-correlation method based on the model of the precedence effect is used to calculate the time differences and suppress the influence of echoes. To integrate spatial cues of different microphone pairs, a mapping method from the correlation between different microphone pairs to a 2-D map corresponding to azimuth and elevation of sound sources was proposed. Experiments shows the system can provide the distribution of sound sources in azimuth-elevation space for sound sources, even concurrently in reverberant environments.
KW - Precedence effect
KW - Robot audition
KW - Spatial sound localization
UR - http://www.scopus.com/inward/record.url?scp=34648816401&partnerID=8YFLogxK
U2 - 10.1109/imtc.2007.379003
DO - 10.1109/imtc.2007.379003
M3 - Conference Proceeding
AN - SCOPUS:34648816401
SN - 1424410800
SN - 9781424410804
T3 - Conference Record - IEEE Instrumentation and Measurement Technology Conference
BT - 2007 IEEE Instrumentation and Measurement Technology, IMTC 2007 - Conference Proceedings - Synergy of Science and Technology in Instrumentation and Measurement
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 IEEE Instrumentation and Measurement Technology, IMTC 2007 - Synergy of Science and Technology in Instrumentation and Measurement
Y2 - 1 May 2007 through 3 May 2007
ER -