DocumentCode :
2594619
Title :
Three ring microphone array for 3D sound localization and separation for mobile robot audition
Author :
Tamai, Yuki ; Sasaki, Yoko ; Kagami, Satoshi ; Mizoguchi, Hiroshi
Author_Institution :
Dept. of Mech. Eng., Tokyo Univ. of Sci., Chiba, Japan
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
4172
Lastpage :
4177
Abstract :
This paper describes a three ring microphone array estimates the horizontal/vertical direction and distance of sound sources and separates multiple sound sources for mobile robot audition. Arrangement of microphones is simulated and an optimized pattern which has three rings is implemented with 32 microphones. Sound localization and separation are achieved by delay and sum beam forming (DSBF) and frequency band selection (FBS). From on-line experiments results of sound horizontal and vertical localization, we confirmed that one or two sounds sources could be localized with an error of about 5 degrees and 200 to 300 mm in the case of the distance of about lm. The off-line experiments of sound separation were evaluated by power spectrums in each frequency of separated sounds, and we confirmed that an appropriate frequency band could be selected by DSBF and FBS. The system can separate 3 different pressure speech sources without drowning out.
Keywords :
array signal processing; audio signal processing; microphone arrays; mobile robots; source separation; statistical distributions; 3D sound localization; delay; frequency band selection; horizontal direction estimation; mobile robot audition; power spectrum; ring microphone array; sound separation; sound source distance estimation; speech source; sum beam forming; vertical direction estimation; Array signal processing; Delay; Focusing; Frequency; Humanoid robots; Humans; Mechanical engineering; Microphone arrays; Mobile robots; Paper technology; Delay and Sum Beamforming; Frequency Band Selection; Sound localization; Sound separation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545095
Filename :
1545095
Link To Document :
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