로봇 시스템에 적용될 음원 위치 추정 방법Sound Source Localization Method Applied to Robot System

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While various methods for sound source localization have been developed, most of them utilize on the time difference of arrival (TDOA) between microphones or the measured head related transfer functions (HRTF). In case of a real robot implementation, the former has a merit of light computation load to estimate the sound direction but can not consider the effect of platform on TDOAs, while the latter can, because characteristics of robot platform are included in HRTF. However, the latter needs large resources for the HRTF database of a specific robot platform. We propose the compensation method which has the light computation load while the effect of platform on TDOA can be taken into account. The proposed method is used with spherical head related transfer function (SHRTF) on the assumption that robot platform, for example a robot head, installed microphones can be modeled to a sphere. We verify that the proposed method decreases the estimation error caused by the robot platform through the simulation and experiment in real environment.
Publisher
한국소음진동공학회
Issue Date
2007-11-15
Language
KOR
Citation

한국소음진동공학회 2007년 추계학술대회, pp.28 - 32

URI
http://hdl.handle.net/10203/163137
Appears in Collection
ME-Conference Papers(학술회의논문)
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