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The paper presents a multiple sound sources mapping system from a robot embedded microphone array. The robot localizes sound direction and recognizes what sound it is while the robot is in motion. Then the system estimates the positions of the sound sources using triangulation from a short time period of directional localization results. Three key components are denoted: (1) accurate directional localization...
This paper proposes a sound identification method for a mobile robot in home and office environment. We propose a simple sound database called Pitch-Cluster-Maps(PCMs) based on Vector Quantization approach. Binarized frequency spectrum is used for PCMs codebook generation. It can describe a variety of sound sources, not only voice, from short term sound input. The proposed PCMs sound identification...
This paper describes a particle filter based sound source mapping system that builds 2D sound source maps from directional sound readings taken from a mobile robot. The method uses a sound source localization model that is represented by Gaussian distribution for both direction and distance. To do this, accurate directional localization of sound sources is required, and two key components have been...
This paper presents a method for combining human tracking information with recognised sound commands extracted from localised and separated sound sources, enabling spoken commands to be placed in the context of an inhabited, dynamic environment. Humans are tracked using a laser range finder based system which extracts and tracks leg profiles from the raw range data. A 32 channel microphone array localises...
This paper describes the arrangement optimization method of a microphone array for localizing and segmenting sound sources based on delay and sum beam forming (DSBF) method. For this purpose, two indexes are defined, 1) width of main lobe and 2) maximum sensitivity of side lobe. Then evaluation function that presents performance of microphone array using these indexes is proposed. Using proposed method,...
This paper describes a speech recognition system that detects basic voice commands for a mobile robot operating in a home space. The system recognizes arbitrary timed speech with position information in a noisy housing environment. The microphone array is attached to the ceiling, and localizes sound source direction in azimuth and elevation, then separates multiple sound sources using delay and sum...
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