Paper Info
Title
Applying Scattering Theory To Robot Audition System: Robust Sound Source Localization And Extraction
Abstract
Robot audition by its own ears (microphones) is essential for natural human-robot communication and interface. Since a microphone is embedded in the head of a robot, the head-related transfer function (HRTF) plays an important role in sound source localization and extraction. Usually, from binaural input, the interaural phase difference (IPD) and interaural intensity difference (IID) are calculated, and then the direction is determined by using IPD and IID with HRTF. The problem of HRTF-based sound source localization is that a HRTF should be measured for each robot in an anechoic chamber, because it depends on the shape of robot's head; HRTF should be interpolated to manipulate a moving talker, because it is available only for discrete azimuth and elevation. To cope with these problems of HRTF, we proposed the auditor, epipolar geometry as a continuous function of IPD and IID to dispense with HRTF and have developed a real-time multiple-talker tracking system. This auditory epipolar geometry, however, does not give a good approximation to IID of all range and IPD of peripheral areas. In this paper, the scattering theory in physics is employed to take into consideration the diffraction of sounds around robot's head for better approximation of IID and IPD. The resulting system shows that it is efficient for localization and extraction of sound at higher frequency and from side directions.
Year
DOI
Venue
2003
10.1109/IROS.2003.1248800
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4
Keywords
Field
DocType
head related transfer function,scattering theory,tracking system,robots,user interfaces,epipolar geometry,sound source localization,real time,transfer functions
Computer vision,Epipolar geometry,Computer science,Azimuth,Transfer function,Anechoic chamber,Artificial intelligence,Acoustics,Binaural recording,Robot,Microphone,Acoustic source localization
Conference
Citations 
PageRank 
References 
35
2.59
6
Authors
4
Name
Order
Citations
PageRank
Kazuhiro Nakadai11342155.91
Daisuke Matsuura2697.38
Hiroshi G. Okuno32092233.19
Hiroaki Kitano43515539.37