Title :
Sound source localization for robot auditory systems
Author :
Cho, Youngkyu ; Yook, Dongsuk ; Chang, Sukmoon ; Kim, Hyunsoo
Author_Institution :
Dept. of Comput. & Commun. Eng., Korea Univ., Seoul, South Korea
fDate :
8/1/2009 12:00:00 AM
Abstract :
Sound source localization (SSL) is a major function of robot auditory systems for intelligent home robots. The steered response power-phase transform (SRP-PHAT) is a widely used method for robust SSL. However, it is too slow to run in real time, since SRP-PHAT searches a large number of candidate sound source locations. This paper proposes a search space clustering method designed to speed up the SRP-PHAT based sound source localization algorithm for intelligent home robots equipped with small scale microphone arrays. The proposed method reduces the number of candidate sound source locations by 30.6% and achieves 46.7% error reduction compared to conventional methods.
Keywords :
home automation; human-robot interaction; humanoid robots; intelligent robots; microphone arrays; mobile robots; pattern clustering; search problems; speech recognition; transforms; intelligent home robot auditory system; microphone array; search space clustering method; sound source localization algorithm; steered response power-phase transform; Algorithm design and analysis; Auditory system; Clustering methods; Design methodology; Intelligent robots; Intelligent systems; Microphone arrays; Orbital robotics; Position measurement; Robustness; Sound source localization; intelligent home robot; robot auditory system; search space clustering; small scale microphone array; steered response power (SRP);
Journal_Title :
Consumer Electronics, IEEE Transactions on
DOI :
10.1109/TCE.2009.5278040
