Title :
A versatile System-on-a-Programmable-Chip for array processing and binaural robot audition
Author :
Lunati, Valentin ; Manhes, Jerome ; Danes, Patrick
Author_Institution :
LAAS, Toulouse, France
Abstract :
This paper champions the use of Systems-on-a-Programmable-Chip (SoPCs) on FPGAs for robot audition. Technical and methodological aspects are discussed. On this basis, evolutions of the “Embedded Audition for Robotics” (EAR) sensor are presented. A versatile design has been obtained for array processing, enabling to implement information-theoretic multiple source detection and broadband beamspace MUSIC source localization at up to 45Hz. Recent evolutions towards binaural and large-scale arrays are finally discussed.
Keywords :
embedded systems; field programmable gate arrays; robots; system-on-chip; EAR; FPGA; SoPC; array processing; binaural robot audition; broadband beamspace MUSIC source localization; embedded audition for robotics; multiple source detection; versatile system-on-a-programmable-chip; Arrays; Ear; Field programmable gate arrays; Hardware; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6386144
