Robotic Auditory Attention Based on Distance from Sound Sources
- Robotic Auditory Attention Based on Distance from Sound Sources
- NGUYEN VAN QUANG; 최종석
- sound soruce localization; robot audition; robot auditory attention; microphone array
- Issue Date
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
- Robotic auditory attention mainly relies on sound source localization using a microphone array. Typically, the robot detects whenever a sound is generated, estimates direction of that source and then turns to that direction. However, when multiple sound sources emit simultaneously, the robot may confuse in selecting properly which source for turning. This paper proposes a new auditory attention system that based on source distance perception, e.g. selection of the closest one among localized sources. The microphone array of the robot consists of two sub-arrays that can provide both azimuth and elevation. Elevations estimated by both the head- and the
base-array are used to calculate the distance to the sound source. Due to the data association problem in multiple sound sources, we propose a two stages distance estimation method. First, the head-array is used to estimate the azimuths of multiple sources, which can generate binary mask to separate them from the other. Then in each separated source, distance is calculated from triangulation of elevations, which are provide by the headand the base-array. The proposed system has demonstrated to various visitors during a five-day show at a robot exhibition.
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- KIST Publication > Conference Paper
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