Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김진성 | - |
dc.contributor.author | 김의현 | - |
dc.contributor.author | 김도익 | - |
dc.contributor.author | 유범재 | - |
dc.date.accessioned | 2024-01-20T22:35:24Z | - |
dc.date.available | 2024-01-20T22:35:24Z | - |
dc.date.created | 2021-09-06 | - |
dc.date.issued | 2008-09 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://pubs.kist.re.kr/handle/201004/133171 | - |
dc.description.abstract | 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. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 도착시간지연 특성행렬을 이용한 휴머노이드 로봇의 공간 화자 위치측정 | - |
dc.title.alternative | Spatial Speaker Localization for a Humanoid Robot Using TDOA-based Feature Matrix | - |
dc.type | Article | - |
dc.description.journalClass | 2 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.3, no.3, pp.237 - 244 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 3 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 237 | - |
dc.citation.endPage | 244 | - |
dc.identifier.kciid | ART001417240 | - |
dc.subject.keywordAuthor | TDOA-based Feature Matrix | - |
dc.subject.keywordAuthor | Sound Source Localization | - |
dc.subject.keywordAuthor | Humanoid Robot | - |
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