Algorithms for acoustic localization based on microphone array in service robotics

Robotics and Autonomous Systems

Volumn 42, Issue 2, 2003, Pages 69-88

  Mumolo, Enzo ^a   Nolich, Massimiliano ^a   Vercelli, Gianni ^b  

^a UNIVERSITY OF TRIESTE   (Italy)

^b UNIVERSITY OF GENOA   (Italy)

Author keywords

Acoustic localization; Microphone array; Neural network; Service robotics; Spectral subtraction

Indexed keywords

ACOUSTIC NOISE; ALGORITHMS; MICROPHONES; NEURAL NETWORKS; REAL TIME SYSTEMS; SENSORS; SIGNAL TO NOISE RATIO; SPECTRUM ANALYSIS;

SERVICE ROBOTICS;

MOBILE ROBOTS;

EID: 0037469886     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(02)00325-1     Document Type: Article

References (29)

1. Aarabi P., Zaky S., Robust sound localization using multi-source audio-visual information fusion. Information Fusion. 2:2001;209-223.
2. R.C. Arkin, T. Balch, AuRA: principles and practice in review, Journal of Experimental and Theoretical Artificial Intelligence 9 (2-3) (1997) 175-189.
3. Arslan G., Sakarya F.A., A unified neural-network-based speaker localization technique. IEEE Transactions on Neural Networks. 11:2000;997-1002.
4. S. Boll, Suppression of acoustic noise in speech using spectral subtraction, IEEE Transactions on Acoustics, Speech, and Signal Processing 27 (2) (1979) 113-120.
5. R.P. Bonasso, R.J. Firby, E. Gat, D. Kortenkamp, D. Miller, M. Slack, Experiences with an architecture for intelligent, reactive agents, Journal of Experimental and Theoretical Artificial Intelligence 9 (2-3) (1997) 237-256.
6. M.S. Brandstein, J.E. Adcock, J.H. DiBiase, H.F. Silverman, A closed-form method for finding source locations from microphone-array time-delay estimates, in: Proceedings of the ICASSP'95, Vol. 17, Detroit, MI, May 1995, pp. 3019-3022.
7. Brandstein M.S., Adcock J.E., Silverman H.F., A practical time-delay estimator for localizing speech sources with a microphone array. Computer Speech and Language. 9:1995;153-169.
8. M.S. Brandstein, H.F. Silverman, A practical methodology for speech source localization with microphone arrays, Computer Speech and Language 11 (2) (1997) 91-126.
9. R. Brooks, A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation 2 (1) (1986) 14-23.
10. B. Colnet, J.-P. Haton, Far field array processing with neural networks, in: Proceedings of the ICASSP'94, Vol. 2, 1994, pp. 281-284.
11. B. Colnet, J.D. Martino, Bearing estimation with time-delay neural networks, in: Proceedings of the ICASSP'95, Vol. 5, 1995, pp. 3583-3586.
12. B. Colnet, J.D. Martino, Source localisation with recurrent neural networks, in: Proceedings of the ICASSP'96, Vol. 6, 1996, pp. 3073-3076.
13. S.E. Fahlman, An empirical study of learning speed in back-propagation networks, Technical Report CMU-CS-88-162, Carnegie Mellon University, Pittsburgh, PA, September 1988.
14. Greenwood D., Critical bandwidth and consonance: in relation to cochlear frequency-position coordinates. Hearing Research. 54:1991;164-208.
15. S. Haykin, Adaptive Filter Theory, 3rd ed., Prentice-Hall, Englewood Cliffs, NJ, 1996.
16. S. Haykin, Neural Network A Comprehensive Foundation, 2nd ed., Macmillan, New York, 1998.
17. http://www.robotics.laboratorium.dist.unige.it/Projects/CertNaz/index.html.
18. Huang J., Supaongprapa T., Terakura I., Wang F., Ohnishi N., Sugie N., A model-based sound localization system and its application to robot navigation. Robotics and Autonomous System. 27:1999;199-209.
19. Knapp C.H., Carter G.C., The generalized correlation method for estimation of time delay. IEEE Transactions on Acoustics, Speech, and Signal Processing. ASSP-24:1976;320-327.
20. R. McAulay, M. Malpass, Speech enhancement using a soft-decision noise suppression filter, IEEE Transactions on Acoustics, Speech, and Signal Processing 28 (1980) 137-145.
21. E. Mumolo, M. Nolich, G. Vercelli, Algorithms and architectures for acoustic localization based on microphone array in service robotics, in: Proceedings of the ICRA2000, Vol. 3, 2000, pp. 2966-2971.
22. M. Omologo, P. Svaizer, Acoustic event localization using a crosspower-spectrum phase based technique, in: Proceedings of the ICASSP'94, Vol. 2, Adelaide, 1994, pp. 273-276.
23. M. Omologo, P. Svaizer, Acoustic source localization in noisy and reverberant environment using a CSP analysis, in: Proceedings of the ICASSP'96, Vol. 2, Atlanta, 1996, pp. 921-924.
24. D. Rabinkin, R. Renomeron, A. Dahl, J. French, J. Flanagan, M. Bianchi, A DSP implementation of source location using microphone arrays, Journal of Acoustical Society of America 99 (1996) 2503.
25. Rabinkin D., Renomeron R., French J., Flanagan J., Estimation of wavefront arrival delay using the cross-power spectrum phase technique. Journal of Acoustical Society of America. 100:1996;2697.
26. M. Riedmiller, H. Braun, A direct adaptive method for faster backpropagation learning: the RPROP algorithm, in: Proceedings of the ICNN, San Francisco, CA, 1993, pp. 586-591.
27. V. Sanguineti, T. Tsuji, P. Morasso, A dynamical model for the generation of curved trajectories, in: S. Gielen, B. Kappen (Eds.), Artificial Neural Networks, Springer, Berlin, 1993, pp. 115-118.
28. Silverman H.F., Kirtman S.E., A two-stage algorithm for determining talker location from linear microphone array data. Computer Speech and Language. 6:1992;129-152.
29. D.E. Sturim, M.S. Brandstein, H.F. Silverman, Tracking multiple talkers using microphone-array measurements, in: Proceedings of the ICASSP'97, Vol. 1, April 1997, pp. 371-374.