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Prototyping Filter-Sum Beamformers for Sound Source Localization in Mobile Robotics

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3 Author(s)
Argentieri, S. ; LAAS - CNRS 7 avenue du Colonel Roche, 31077 Toulouse, France; sargenti@laas.fr ; Danes, P. ; Soueres, P.

The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A rapid prototyping method is proposed to design filter-sum beamformers on the basis of convex optimization. This method is well-suited to robotics applications as it copes with real-time constraints and allows the localization of broadband signals such as human voice. Numerous simulation results are used to illustrate the reasoning.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005

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