김진성 김의현 김도익 유범재 2024-01-20T22:35:24Z 2024-01-20T22:35:24Z 2021-09-06 2008-09 1975-6291 https://pubs.kist.re.kr/handle/201004/133171 Nowadays, research on human-robot interaction has 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 a speaker localization system with six microphones for a humanoid robot called MAHRU from 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. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts. Korean 한국로봇학회 도착시간지연 특성행렬을 이용한 휴머노이드 로봇의 공간 화자 위치측정 Spatial Speaker Localization for a Humanoid Robot Using TDOA-based Feature Matrix Article 2 로봇학회 논문지, v.3, no.3, pp.237 - 244 로봇학회 논문지 3 3 237 244 ART001417240 TDOA-based Feature Matrix Sound Source Localization Humanoid Robot