Title :
Robot localization method by acoustical signal identification
Author :
Manzanares, Manuel ; Guerra, Edmundo ; Bolea, Yolanda ; Grau, Antoni
Author_Institution :
Autom. Control Dept., Tech. Univ. of Catalonia, Barcelona, Spain
Abstract :
Non-speech audio is a non-explored characteristic in robot localization but due to its potentiality it can yield a valuable information together with other sensorial systems. In this work, a novel robot localization method is proposed based on audio signal pattern recognition with extracted features from signal identification. To reinforce the localization, avoiding ambiguity and reducing uncertainty, a sensorial system is used aboard the robot to compute the angle between itself and the sound source. This method can be generalized to any non-speech sound signal because the acoustical meaning and the room geometry are related.
Keywords :
acoustic signal processing; feature extraction; position control; robots; acoustical signal identification; audio signal pattern recognition; feature extraction; nonspeech audio; robot localization method; room geometry; Acoustic sensors; Feature extraction; Information filtering; Information filters; Intelligent sensors; Mechanical sensors; Orbital robotics; Robot localization; Robot sensing systems; Signal processing;
Conference_Titel :
Emerging Technologies & Factory Automation, 2009. ETFA 2009. IEEE Conference on
Conference_Location :
Mallorca
Print_ISBN :
978-1-4244-2727-7
Electronic_ISBN :
1946-0759
DOI :
10.1109/ETFA.2009.5347171
