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Robust Tracking of Multiple Sound Sources by Spatial Integration of Room And Robot Microphone Arrays

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9 Author(s)
Nakadai, K. ; Honda Res. Inst. Japan Co. Ltd., Saitame ; Nakajima, H. ; Murase, M. ; Kaijiri, S.
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Sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides 2D (x-y) sound source localization based on a weighted delay-and-sum beamforming method. The robot microphone array consists of eight microphones installed on a robot head, and localizes multiple sound sources in azimuth. The localization results are integrated to track sound sources by using a particle filter for multiple sound sources. The experimental results show that particle filter based integration reduces localization errors and provides accurate and robust 2D sound source tracking

Published in:

Acoustics, Speech and Signal Processing, 2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on  (Volume:4 )

Date of Conference:

14-19 May 2006