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dc.contributor.author김진성-
dc.contributor.author김의현-
dc.contributor.author김도익-
dc.contributor.author유범재-
dc.date.accessioned2024-01-20T22:35:24Z-
dc.date.available2024-01-20T22:35:24Z-
dc.date.created2021-09-06-
dc.date.issued2008-09-
dc.identifier.issn1975-6291-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/133171-
dc.description.abstractNowadays, 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.languageKorean-
dc.publisher한국로봇학회-
dc.title도착시간지연 특성행렬을 이용한 휴머노이드 로봇의 공간 화자 위치측정-
dc.title.alternativeSpatial Speaker Localization for a Humanoid Robot Using TDOA-based Feature Matrix-
dc.typeArticle-
dc.description.journalClass2-
dc.identifier.bibliographicCitation로봇학회 논문지, v.3, no.3, pp.237 - 244-
dc.citation.title로봇학회 논문지-
dc.citation.volume3-
dc.citation.number3-
dc.citation.startPage237-
dc.citation.endPage244-
dc.identifier.kciidART001417240-
dc.subject.keywordAuthorTDOA-based Feature Matrix-
dc.subject.keywordAuthorSound Source Localization-
dc.subject.keywordAuthorHumanoid Robot-
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KIST Article > 2008
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