Abstract
Mobile robots communicating with people would benefit from being able to detect sound sources to help localize interesting events in real-life settings. We propose using a spherical robot with four microphones to determine the spatial locations of multiple sound sources in ordinary rooms. The arrival temporal disparities from phase difference histograms are used to calculate the time differences. A precedence effect model suppresses the influence of echoes in reverberant environments. To integrate spatial cues of different microphones, we map the correlation between different microphone pairs on a 3D map corresponding to the azimuth and elevation of sound source direction. Results of experiments indicate that our proposed system provides sound source distribution very clearly and precisely, even concurrently in reverberant environments with the Echo Avoidance (EA) model.
Original language | English |
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Pages (from-to) | 1277-1286 |
Number of pages | 10 |
Journal | Journal of Advanced Computational Intelligence and Intelligent Informatics |
Volume | 15 |
Issue number | 9 |
DOIs | |
Publication status | Published - Nov 2011 |
Externally published | Yes |
Keywords
- Acoustic signal processing
- Candidate histogram
- Direction estimation
- Precedence effect
- Time-delay estimation