Title :
Robust sound source localization using a microphone array on a mobile robot
Author :
Valin, Jean-Marc ; Michaud, François ; Rouat, Jean ; Letourneau, Dominic
Author_Institution :
Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que., Canada
Abstract :
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting event in the environment. To do so the robot auditory system must be able to work in noisy, unknown and diverse environmental conditions. In this paper, we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on time delay of arrival estimation. Results show that a mobile robot can localize in real time different types of sound sources over a range of 3 meters and with a precision of 3°.
Keywords :
acoustic signal processing; array signal processing; direction-of-arrival estimation; microphones; mobile robots; noise; direct line-of-sight; microphone array; mobile robot; robot auditory system; robust sound source localization; robust sound source localization method; three-dimensional space; Acoustic noise; Auditory system; Delay effects; Delay estimation; Microphone arrays; Mobile robots; Orbital robotics; Robot sensing systems; Robustness; Working environment noise;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248813