Improved binaural sound localization and tracking for unknown time-varying number of speakers

Advanced Robotics

Volumn 27, Issue 15, 2013, Pages 1161-1173

  Kim, Ui Hyun ^a   Okuno, Hiroshi G ^a  

^a KYOTO UNIVERSITY   (Japan)

Author keywords

Binaural sound localization; Human robot interaction; Multisource sound tracking

Indexed keywords

BINAURAL SOUND LOCALIZATIONS; GENERALIZED CROSS CORRELATIONS; K-MEANS CLUSTERING ALGORITHM; MULTI-PATH INTERFERENCE; MULTISOURCES; SOUND SOURCE LOCALIZATION; TIME DIFFERENCE OF ARRIVAL; VOICE ACTIVITY DETECTION;

ANTHROPOMORPHIC ROBOTS; ERRORS; MICROPHONES; SPEECH RECOGNITION;

HUMAN COMPUTER INTERACTION;

EID: 84886095594     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1080/01691864.2013.812177     Document Type: Article

References (18)

1. Valin JM, Michaud F, Rouat J, Letouneau D. Robust sound source localization using a microphone array on a mobile robot. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS); October 2003; Las Vegas, USA. p. 1128-1233.
2. Kim UH, Kim J, Kim D, Kim H, You B. J. Speaker localization using the tdoa-based feature matrix for a humanoid robot. In: Proc. IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN); August 2008; Munich, Germany. p. 610-615.
3. Li X, Liu H, Yang X. Sound source localization for mobile robot based on time difference feature and space grid matching. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), September 2011; San Francisco, CA, USA. p. 2879-2886.
4. Sasaki Y, Kabasawa M, Thompson S, Kagami S, Oro K. Spherical microphone array for spatial sound localization for a mobile robot. In: Proc. IEEE/RSJ Inter. Conf. on Intelligent Robots and Systems (IROS), October 2012; Algarve, Portugal. p. 713-718.
5. Blauert J, Braasch J. Binaural signal processing. In: Proc. IEEE Int. Conf. on Digital Signal Processing (DSP); July 2011; Greece. p. 1-11.
6. Cheng CI, Wakefield GH. Introduction to head-related transfer functions (HRTFs): representations of hrtfs in time, frequency, and space. Audio Eng. Soc. 2001;49:231-249.
7. Rui Y, Florencio D. Time delay estimation in the presence of correlated noise and reverberation. In: Proc. IEEE Int. Symp. on Acoustics, Speech, and Signal Processing (ICASSP); May 2004; Montreal, Canada. Vol. 2, p. 133- 136.
8. Kim UH, Mizumoto T, Ogata T, Okuno HG. Improvement of speaker localization by considering multipath interference of sound wave for binaural robot audition. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS); eptember 2011; San Francisco, CA, USA. p. 2910-2915.
9. Schmidt RO. Multiple emitter location and signal parameter estimation. IEEE Trans. Antennas Propag. 1986;34:276-280.
10. Viste H, Evangelista G. Binaural source localization. In: Proc. Int. Conf. on Digital Audio Effects; October 2004; Naples, Italy. p. 145-150.
11. Youssef K, Argentieri S, Zarader JL. A binaural sound source localization method using auditive cues and vision. In: Proc. IEEE Int. Symp. on Acoustics, Speech, and Signal Processing (ICASSP); March 2012; Kyoto, Japan. p. 217-220.
12. Nakadai K, Matsuura D, Okuno HG, Tsujino H. Improvement of recognition of simultaneous speech signals using AV integration and scattering theory for humanoid robots. Speech Commun. 2004;44:97-112.
13. Nakadai K, Takahashi T, Okuno HG, Nakajima H, Hasegawa Y, Tsujino H. Design and implementation of robot audition system 'HARK' - open source software for listening to three simultaneous speakers. Adv. Rob. 2010;24:739-761.
14. Blauert J. Spatial hearing: the psychophysics of human sound localization (revised edition). Cambridge (MA): MIT Press; 1997.
15. Knapp CH, Carter GC. The generalized correlation method for estimation of time delay. IEEE Trans. Acoustics, Speech Signal Process. 1976;24:320-327.
16. Omologo M, Svaizer P. Acoustic event localization using a crosspower-spectrum phase based technique. In: Proc. IEEE Int. Symp. on Acoustics, Speech, and Signal Processing (ICASSP); April 1994; Adelaide, Australia. Vol. 2, p. 273-276.
17. Sohn J, Kim NS, Sung W. A statistical model-based voice activity detection. IEEE Signal Process Lett. 1999;6:1-3.
18. http://youtube/VYJba0dia7E