Sound Source Localization using HRTF database
Sound Source Localization using HRTF database
复制标题
使用 HRTF 数据库进行声源定位
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Youngjin Park
中科院分区：
文献类型：
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作者：
S. Hwang;Youngjin Park;Youngjin Park
我们提出了一种使用头部相关传递函数（HRTF）的声源定位方法，并在机器人平台中实现。在传统的定位方法中，声源的位置是根据到达自由场中阵列形式的每个麦克风的波前的时间延迟来估计的。对于人头来说，这对应于耳间时间延迟 (ITD)，即两耳之间传入声波的时间延迟。尽管 ITD 是刺激水平面上横向感知的极好声音提示，但在单独从 ITD 跟踪声音位置时常常会引起混乱，因为每个声源及其关于耳间轴的镜像共享相同的 ITD。另一方面，与假人头部麦克风系统或具有多个麦克风的机器人平台相关的 HRTF 不仅包含有关适当时间延迟的信息，还包含由于平台的头部和身体等遮蔽物体的衍射和散射而导致的相位和幅度失真。因此，一旦可以执行适当的分析，任何给定平台的一组 HRTF 都会提供有关源位置的大量信息。在本研究中，我们引入了麦克风的一组输出信号要满足的新相位和幅度标准，以便根据在给定平台的消声室中凭经验获得的 HRTF 数据库找到声源位置。通过家庭环境中的实验验证了所提出的方法，并与传统方法进行了性能比较。
We propose a sound source localization method using the Head-Related-Transfer-Function (HRTF) to be implemented in a robot platform. In conventional localization methods, the location of a sound source is estimated from the time delays of wave fronts arriving in each microphone standing in an array formation in free-field. In case of a human head this corresponds to Interaural-Time-Delay (ITD) which is simply the time delay of incoming sound waves between the two ears. Although ITD is an excellent sound cue in stimulating a lateral perception on the horizontal plane, confusion is often raised when tracking the sound location from ITD alone because each sound source and its mirror image about the interaural axis share the same ITD. On the other hand, HRTFs associated with a dummy head microphone system or a robot platform with several microphones contain not only the information regarding proper time delays but also phase and magnitude distortions due to diffraction and scattering by the shading object such as the head and body of the platform. As a result, a set of HRTFs for any given platform provides a substantial amount of information as to the whereabouts of the source once proper analysis can be performed. In this study, we introduce new phase and magnitude criteria to be satisfied by a set of output signals from the microphones in order to find the sound source location in accordance with the HRTF database empirically obtained in an anechoic chamber with the given platform. The suggested method is verified through an experiment in a household environment and compared against the conventional method in performance.