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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

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4 Author(s)
J. -M. Valin ; Dept. of Electr. & Comput. Eng., Sherbrooke Univ., Que., Canada ; F. Michaud ; B. Hadjou ; J. Rouat

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:1 )

Date of Conference:

26 April-1 May 2004