Kim, Ui-Hyun Kim, Jinsung Kim, Doik Kim, Hyogon You, Bum-Jae 2024-01-19T13:09:02Z 2024-01-19T13:09:02Z 2022-03-07 2008-08 https://pubs.kist.re.kr/handle/201004/116072 Research on human-robot interaction has recently been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report on a speaker localization system with six microphones for a humanoid robot called MAHRU of KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. To verify the solid performance of our speaker localization system for a humanoid robot, we present the various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts. English IEEE Speaker Localization Using the TDOA-based Feature Matrix for a Humanoid Robot Conference 1 17th IEEE International Symposium on Robot and Human Interactive Communications, pp.610 - + 17th IEEE International Symposium on Robot and Human Interactive Communications 610 + US Munich, GERMANY 2008-08-01 2008 17TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2 000261700900102 2-s2.0-52949109221 Proceedings Paper