Localization of multiple sound sources based on a CSP analysis with a microphone array
ICASSP '00 Proceedings of the Acoustics, Speech, and Signal Processing, 2000. on IEEE International Conference - Volume 02
Real-time auditory and visual talker tracking through integrating EM algorithm and particle filter
IEA/AIE'07 Proceedings of the 20th international conference on Industrial, engineering, and other applications of applied intelligent systems
Robust Recognition of Simultaneous Speech by a Mobile Robot
IEEE Transactions on Robotics
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We applied motion theory to robot audition to improve the inadequate performance. Motions are critical for overcoming the ambiguity and sparseness of information obtained by two microphones. To realise this, we first designed a sound source localisation system integrated with cross-power spectrum phase CSP analysis and an EM algorithm. The CSP of sound signals obtained with only two microphones was used to localise the sound source without having to measure impulse response data. The expectation-maximisation EM algorithm helped the system to cope with several moving sound sources and reduce localisation errors. We then proposed a way of constructing a database for moving sounds to evaluate binaural sound source localisation. We evaluated our sound localisation method using artificial moving sounds and confirmed that it could effectively localise moving sounds slower than 1.125 rad/s. Consequently, we solved the problem of distinguishing whether sounds were coming from the front or rear by rotating and/or tipping the robot's head that was equipped with only two microphones. Our system was applied to a humanoid robot called SIG2, and we confirmed its ability to localise sounds over the entire azimuth range as the success rates for sound localisation in the front and rear areas were 97.6% and 75.6% respectively.