Robust sound source localization using a microphone array on a mobile robot

By Jean-Marc Valin, François Michaud, Jean Rouat, D. Létourneau. IEEE/RJS International Conference on Intelligent RObots and Systems, 2003

411 citations recorded by the source corpus.

The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting event in the environment. To do so the robot auditory system must be able to work in noisy, unknown and diverse environmental conditions. In this paper, we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on time delay of arrival estimation. Results show that a mobile robot can localize in real time different types of sound sources over a range of 3 meters and with a precision of 3/spl deg/.

Subfields: Computational Mechanics, Signal Processing

View Paper: https://www.semanticscholar.org/paper/1eaee55fd2afe8c075d4416c6551e02f13c053f3

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In Computational Mechanics

In Signal Processing

Citations in the corpus

Sound Localization Sensors for Search and Rescue Biobots (2016, background): “array of multiple microphones by a mobile robot [31].”
A review of verbal and non-verbal human-robot interactive communication (2014, methodology): “Sound source localization is usually accomplished using mi crophone arrays, such as the robotic system in [186].”
A Microphone Array System for Automatic Fall Detection (2012, background): “The BF technique is widely used in a variety of applications, such as videoconferencing [20], human– robot interaction [21], and bird monitoring [22] for increasing sound quality.”
Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering (2007, methodology): “Using the far-field assumpt ion [8], the TDOA in samples is computed as: τij = Fs c (~pi − ~pj) · ~u (12) where~pi is the position of microphonei, ~u is a unit-vector that points in the direction of the source, c is the speed of sound and Fs is the sampling rate.”