Algorithms for acoustic localization based on microphone array in service robotics

Mumolo, Enzo; Nolich, Massimiliano; Vercelli, Gianni

doi:10.1016/s0921-8890(02)00325-1

Cited by 54 publications

(32 citation statements)

References 26 publications

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“…Most of the conventional localization algorithms have been developed using a microphone array fixed at given positions [4,5,[8][9][10][11][12]15] and with constant directiondependent cues, on the assumption that a source position does not vary. The most commonly used time delay estimation (TDE) method is to use the generalized crosscorrelation (GCC) function, which is employed to estimate ICTD between the selected pair of microphones [16,17].…”

Section: Localization Cue: Ictd Trajectorymentioning

confidence: 99%

“…In the last few decades, many different SSL algorithms that are applicable to intelligent robots [4,5] and also other engineering systems (e.g., teleconference systems [6] and surveillance units [7]) have been proposed. Even if the microphone array size, shape and number of microphones differ due to the constraints of various applications, certain localization cues (or direction estimation cues) are commonly used: inter-channel time difference (ICTD), interchannel level difference (ICLD) and inter-channel spectral difference (ICSD).…”

Section: Introductionmentioning

confidence: 99%

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Three-dimensional Sound Source Localization Using Inter-channel Time Difference Trajectory

Lee

Park

2015

Int. j. adv. robot. syst.

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Sound source localization is one of the basic and essential techniques for intelligent robots in terms of human-robot interaction and has been utilized in various engineering fields. This paper suggests a new localization method using an inter-channel time difference trajectory, which is a new localization cue for efficient 3-D localization. As one of the ways to realize the proposed cue, a two-channel rotating array is employed. Two microphones are attached on the left and right sides of the spherical head. One microphone is in a circular motion on the right side, while the other is fixed on the left side. According to the rotating motion of the array, the (source) direction-dependent characteristics of the trajectories are analysed using the Ray-Tracing formula extended for 3-D models. In simulation, the synthesized signals generated by the fixed and rotating microphone signal models were used as the output signals of the two microphones. The simulation showed that the localization performance is strongly dependent on the azimuthal position of a source, which is caused by the asymmetry of the trajectory amplitude. Additionally, the experimental results of the two experiments carried out in the room environment demonstrated that the proposed system can localize a Gaussian noise source and a voice source in 3-D space.

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Section: Localization Cue: Ictd Trajectorymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-dimensional Sound Source Localization Using Inter-channel Time Difference Trajectory

Lee

Park

2015

Int. j. adv. robot. syst.

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“…Several techniques can be adopted 20 . One class of algorithms can be derived directly from antenna array theory.…”

Section: Circular Microphone Array Based Localizationmentioning

confidence: 99%

Combining Audio and Video Surveillance With a Mobile Robot

Menegatti

Cavasin

Pagello

et al. 2007

Int. J. Artif. Intell. Tools

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This paper presents a Distributed Perception System for application of intelligent surveillance. The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera). The mobile omnidirectional camera can be used to have a closer look of the scene or to inspect portions of the environment not covered by the fix sensory agents. In this paper, the hardware and the software architecture of the system and of its sensors are presented. Experiments on the integration of the audio localization data and on the video localization data are reported.

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“…Many methods have been reported for sound source localization involving Fourier transforms, time frequency histograms [2], multiple (more than two) microphones [12] etc. In the current implementation, the system is limited to two on-board microphones.…”

Section: A Sound Localizationmentioning

confidence: 99%

Design, fabrication and initial results of a 2g autonomous glider

Wood

Avadhanula

Steltz

et al. 2005

31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005.

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Abstract-Utilizing the core technologies of emerging microrobotic structures, the rapid design and prototyping of a passive micro air vehicle with the final goal of locating an audio source while avoiding hazardous obstacles is presented. The airfoil and control surfaces are optimized empirically to maximize lift and maneuverability while minimizing drag. Bimorph piezoelectric bending cantilevers actuate the control surfaces. Since such actuators require high voltages, an efficient boost circuit is presented along with appropriate high voltage electronics. To locate audio sources, a pair of acoustic sensors is designed and prototyped using a phase detection algorithm while a custom optic flow sensor is developed to avoid obstacles and give estimates of object distances and velocities. Finally, each subsystem is demonstrated and the complete glider is integrated to demonstrate initial open loop control performance.

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Algorithms for acoustic localization based on microphone array in service robotics

Cited by 54 publications

References 26 publications

Three-dimensional Sound Source Localization Using Inter-channel Time Difference Trajectory

Three-dimensional Sound Source Localization Using Inter-channel Time Difference Trajectory

Combining Audio and Video Surveillance With a Mobile Robot

Design, fabrication and initial results of a 2g autonomous glider

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