Robust estimation of sound direction for robot interface
Robust estimation of sound direction for robot interface
复制标题
机器人接口声音方向的鲁棒估计
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Jujang Lee
中科院分区：
文献类型：
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作者：
Cheol;Taeyong Choi;B.;Jujang Lee
提出了一种用于移动的机器人接口的稳健的声音方向估计方法。与其他方法相比，所提出的方法估计声音方向在短时间的间隔，以处理恶化的声源或机器人的运动。通过对到达时间延迟（TDOA）可靠性的量化，将离散卡尔曼滤波和广义互相关（GCC）两种方法结合起来。该组合防止了信号的低功率、噪声和混响的恶化，因为离散卡尔曼滤波器有效地滤除了这些影响。移动的机器人用三个麦克风估计方位角的实验结果表明，即使声源或机器人在估计过程中移动，所提出的方法也能提供稳健的声音方向估计。
This paper proposes a robust method to estimate sound direction for mobile robot interface. In contrast to other methods, the proposed method estimates sound direction at intervals of short time to deal with deterioration by movement of sound source or robot. The two methods, discrete Kalman filter and time delay of arrival (TDOA) using generalized cross-correlation (GCC), are combined by quantifying reliability of TDOA. The combination prevents the deterioration by low power of signals, noise, and reverberation because discrete Kalman filter efficiently filters out such effects. The result of experiments, in which mobile robot estimates azimuth angle with three microphones, shows that the proposed method provides robustness on estimating sound direction even if the sound source or robot is moving during estimation procedure.