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Pregled bibliografske jedinice broj: 455537

Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling


Marković, Ivan; Petrović, Ivan
Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling // Proceedings for the Joint Conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics)
Munich, Germany, 2010. str. 21-27 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling

Autori
Marković, Ivan ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings for the Joint Conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics) / - Munich, Germany, 2010, 21-27

Skup
The joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010)

Mjesto i datum
München, Njemačka, 07-09.07.2010.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Speaker localization; microphone array; von Mises distribution; Particle Filtering

Sažetak
This paper deals with the problem of localizing and tracking a moving speaker over the full range around the mobile robot. The proposed algorithm is based on estimating the time difference of arrival by maximizing the weighted cross-correlation function in order to, by series of geometrical calculation, determine the azimuth angle of the detected speaker. A post processing technique is proposed in which each of these microphone-pair determined azimuths are further combined into a mixture of the von Mises distributions, thus producing a practical probabilistic representation of the microphone array measurement. It is shown that this distribution is inherently multimodal and that the system at hand is non-linear, which required a discrete representation of the distribution function by means of particle filtering. Experiments were conducted and the results show that the algorithm can reliably and accurately localize and track a moving sound source.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb