Sound source tracking of moving speaker using multi-channel microphones in robot environments

This paper is concerned with multiple microphone-based sound source tracking of moving speaker in home robot environments. For this purpose, we use the Excitation Source Information (ESI) based on linear predication residuals and Hilbert transform to determine the time-delay between each two microphones from speech signals obtained through three microphones and sound board. Thus, it can be used as a core technique in conjunction with human-robot interaction that can naturally interact between human and robots in home robot applications. The experimental results on tracking of moving sound reveal that the presented method shows good tracking performance in various speech periods.