کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413204 | 679904 | 2007 | 13 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering](/preview/png/413204.png)
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for other capabilities such as speech recognition. To give this capability to a robot, the challenge is not only to localize simultaneous sound sources, but to track them over time. In this paper we propose a robust sound source localization and tracking method using an array of eight microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a particle filter-based tracking algorithm. Results show that a mobile robot can localize and track in real-time multiple moving sources of different types over a range of 7 m. These new capabilities allow a mobile robot to interact using more natural means with people in real-life settings.
Journal: Robotics and Autonomous Systems - Volume 55, Issue 3, 31 March 2007, Pages 216–228