Naslov
Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array

Autori
Marković, Ivan ; Petrović, Ivan

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

Izvornik
Proceedings Book of 40th International Symposium on Robotics / Basañez, Luis ; Suárez, Raúl ; Rosell, Jan - Barcelona : Asociación Española de Robótica y Automatización Tecnologías de la Producción – AER-ATP, 2009, 283-288

ISBN
978-84-920933-8-0

Skup
40th International Symposium on Robotics

Mjesto i datum
Barcelona, Španjolska, 10.03.2009. - 13.03.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
speaker localization; microphone; TDOA; RLS

Sažetak
In this paper a method for speaker localization and tracking is proposed based on Time Difference of Arrival estimation enhanced with so called tuned phase transform. The localization method is based on Pseudo-linear estimator, and Y-shaped array for spatial sampling is proposed and compared to square array. The tracking is realized with Recursive Least-Squares algorithm. At the end, results recorded on a mobile robot are presented, showing that the developed audio interface and algorithm can localize and track speaker in mobile robot environment.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA