Sound source localization for real-world humanoid robots

Authors:
Georgios Athanasopoulos;Henk Brouckxon;Werner Verhelst
Affiliations:
Dept. of Electronics and Informatics, Vrije Universiteit Brussel, Brussels, Belgium;Dept. of Electronics and Informatics, Vrije Universiteit Brussel, Brussels, Belgium and Interdisciplinary Institute for Broadband Technology, Ghent, Belgium;Dept. of Electronics and Informatics, Vrije Universiteit Brussel, Brussels, Belgium and Interdisciplinary Institute for Broadband Technology, Ghent, Belgium
Venue:
SITE'12 Proceedings of the 11th international conference on Telecommunications and Informatics, Proceedings of the 11th international conference on Signal Processing
Year:
2012

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Abstract

In this paper we study the suitability and performance of conventional time delay of arrival estimation for humanoid robots. Moving away from simulated environments, we look at the influence of real-world robot's shape on the sound source localization. We present a TDOA/GCC based sound source localization method that successfully addresses this influence by utilizing a pre-measured set of TDOAs. The measuring methodology and important aspects of the implementation are thoroughly presented. Finally, an evaluation is made with the humanoid robot Nao. The experimental results are presented and discussed.