Paper Info
Title
Fast And Robust 3-D Sound Source Localization With Dsvd-Phat
Abstract
This paper introduces a variant of the Singular Value Decomposition with Phase Transform (SVD-PHAT), named Difference SVD-PHAT (DSVD-PHAT), to achieve robust Sound Source Localization (SSL) in noisy conditions. Experiments are performed on a Baxter robot with a four-microphone planar array mounted on its head. Results show that this method offers similar robustness to noise as the state-of-the-art Multiple Signal Classification based on Generalized Singular Value Decomposition (GSVD-MUSIC) method, and considerably reduces the computational load by a factor of 250. This performance gain thus makes DSVD-PHAT appealing for real-time application on robots with limited on-board computing power.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8967690
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Generalized singular value decomposition,Computer vision,Singular value decomposition,Planar array,Multiple signal classification,Computer science,Robustness (computer science),Artificial intelligence,Robot,Acoustic source localization
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
François Grondin173.92
James Glass23123413.63