2D sound source mapping from mobile robot using beamforming and particle filtering

S. Kagami, S. Thompson, Y. Sasaki, H. Mizoguchi, T. Enomoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper describes a particle filter based sound source mapping system that builds 2D sound source maps from directional sound readings taken from a mobile robot. The method uses a sound source localization model that is represented by gaussian distribution for both direction and distance. To do this, accurate directional localization of sound sources is required, and two key components have been developed to achieve this: 1) a 32ch low side-lobe microphone array that is designed by beam forming simulation to have a) an omnidirectional response, b) a narrower main-lobe, and c) lower side-lobes, in 700-2500[Hz] acoustic signals; 2) directional localization of different pressure sound sources by combining the Delay and Sum Beam Forming (DSBF) and the Frequency Band Selection (FBS) methods. Finally, experimental results show the proposed method can map sound sources in two dimesionals with high accuracy (less than 50[cm] error).

Original languageEnglish
Title of host publication2009 IEEE International Conference on Acoustics, Speech, and Signal Processing - Proceedings, ICASSP 2009
Pages3689-3692
Number of pages4
DOIs
Publication statusPublished - 23 Sep 2009
Event2009 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2009 - Taipei, Taiwan, Province of China
Duration: 19 Apr 200924 Apr 2009

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
ISSN (Print)1520-6149

Conference

Conference2009 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2009
CountryTaiwan, Province of China
CityTaipei
Period19/04/0924/04/09

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Keywords

  • Array design
  • Array signal processing
  • Mobile robots
  • Sound source mapping

Cite this

Kagami, S., Thompson, S., Sasaki, Y., Mizoguchi, H., & Enomoto, T. (2009). 2D sound source mapping from mobile robot using beamforming and particle filtering. In 2009 IEEE International Conference on Acoustics, Speech, and Signal Processing - Proceedings, ICASSP 2009 (pp. 3689-3692). [4960427] (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings). https://doi.org/10.1109/ICASSP.2009.4960427