Sound Source Localization Based on Robot Hearing and Vision

Abstract

A novel sound source localization system was proposed in this paper. The system is composed of a robot which has a microphone array corresponding to human's ears and 2-CCD cameras corresponding to human's eyes. The system is computationally efficient and physically compact, thus suitable for mobile robots. The robot can establish the relationship among the hearing, vision and the sound direction, sound source localization is realized based on time delay of arrival (TDOA) estimation using microphone array, then it can be improved by vision. The method is proved accurate and efficient enough for real-time operation.

The Research and Development of Mechanical Product Turning Processing Cost Estimation System

“…In the formula, − H Turning manufacturing cost, RMB; − P The cost of unit machining time, RMB/hour. Database access and Excel data processing [4]. According to necessary parameters for cost estimation of the system, Access2003 established the data form respectively, such as raw material information table, Turning dosage table, machine equipment parameter table, working time fee table, etc.…”

Sound Source Localization Method Using Region Selection

“…Some of the applications include service robots, video conference, intelligent living environments, security systems and speech separation for hands-free communication devices (Coen, 1998;Wax & Kailath, 1983;Mungamuru & Aarabi, 2004;Sasaki et al, 2006;Lv & Zhang 2008). As an example, without the information on the spatial location of users in a given environment, it would not be possible for a service robot to react naturally to the needs of the user.…”

Localization of sound sources by means of unidirectional microphones

“…The first two categories discussed above require a search over the potential directions of sound sources. The third category, instead, is based on time-delay estimation (TDE) (Valin et al 2003, Liu and Milios 2005, Kwon et al 2007, Jin et al 2008, Kobayashi et al 2008, Lv and Zhang 2008. In the TDE, the arrival time delay between signals detected by each pair of the microphones array is estimated.…”