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Correlation matrix interpolation in Sound Source Localization for a robot

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4 Author(s)
Nakamura, K. ; Honda Res. Inst. Japan Co., Ltd., Saitama, Japan ; Nakadai, K. ; Nakajima, H. ; Ince, G.

In microphone array processing, a Correlation Matrix (CM) between multiple channel input signals is widely utilized for various purposes such as Sound Source Localization (SSL), etc. The CM corresponds to spatial information between a microphone and a sound source, and it dynamically changes as they move in a dynamic environment. Since pre-measured CMs have difficulties in dealing with dynamically changing environments due to their discreteness, this paper addresses a CM interpolation utilizing a few discrete known CMs. The proposed method is based on an integration of eigen-value-scaling and linear interpolation, which requires a few measurements and low computational costs. Apart from conventional methods, this paper deals with an interpolation based on a correlation-matrix not based on a transfer-function, which achieves the integration approach. The evaluation shows better estimation performance compared to conventional transfer-function-based methods. We also applied the interpolation to SSL and confirmed its validity.

Published in:

Acoustics, Speech and Signal Processing (ICASSP), 2011 IEEE International Conference on

Date of Conference:

22-27 May 2011