Adaptive filter theory (2nd ed.)
Adaptive filter theory (2nd ed.)
Fundamentals of statistical signal processing: estimation theory
Fundamentals of statistical signal processing: estimation theory
Matrix computations (3rd ed.)
SCAAT: incremental tracking with incomplete information
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
SCAAT: incremental tracking with incomplete information
SCAAT: incremental tracking with incomplete information
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Towards Vision-Based 3-D People Tracking in a Smart Room
ICMI '02 Proceedings of the 4th IEEE International Conference on Multimodal Interfaces
A framework for speech source localization using sensor arrays
A framework for speech source localization using sensor arrays
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
A joint particle filter for audio-visual speaker tracking
ICMI '05 Proceedings of the 7th international conference on Multimodal interfaces
Multi-level Particle Filter Fusion of Features and Cues for Audio-Visual Person Tracking
Multimodal Technologies for Perception of Humans
Estimation of Pollutant-Emitting Point-Sources Using Resource-Constrained Sensor Networks
GSN '09 Proceedings of the 3rd International Conference on GeoSensor Networks
A novel approach for multipath channel estimation in CDMA networks using the Unscented Kalman filter
WOCN'09 Proceedings of the Sixth international conference on Wireless and Optical Communications Networks
Sigma point Kalman filters for multipath channel estimation in CDMA networks
ISWCS'09 Proceedings of the 6th international conference on Symposium on Wireless Communication Systems
WiCOM'09 Proceedings of the 5th International Conference on Wireless communications, networking and mobile computing
Speaker Tracking Using Recursive EM Algorithms
IEEE/ACM Transactions on Audio, Speech and Language Processing (TASLP)
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In this work, we propose an algorithm for acoustic source localization based on time delay of arrival (TDOA) estimation. In earlier work by other authors, an initial closed-form approximation was first used to estimate the true position of the speaker followed by a Kalman filtering stage to smooth the time series of estimates. In the proposed algorithm, this closed-form approximation is eliminated by employing a Kalman filter to directly update the speaker's position estimate based on the observed TDOAs. In particular, the TDOAs comprise the observation associated with an extended Kalman filter whose state corresponds to the speaker's position. We tested our algorithm on a data set consisting of seminars held by actual speakers. Our experiments revealed that the proposed algorithm provides source localization accuracy superior to the standard spherical and linear intersection techniques. Moreover, the proposed algorithm, although relying on an iterative optimization scheme, proved efficient enough for real-time operation.