Multiple sound source mapping for a mobile robot by self-motion triangulation

Yoko Sasaki, Satoshi Kagami, Hiroshi Mizoguchi

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

62 Citations (Scopus)

Abstract

The paper describes a 2D sound source mapping system for a mobile robot. We developed a multiple sound sources localization method for a mobile robot with a 32 channel concentric microphone array. The system can separate multiple moving sound sources using direction localization. Directional localization and separation of different pressure sound sources is achieved using the Delay and Sum Beam Forming(DSBF) and the Frequency Band Selection(FBS) algorithm. Sound sources were mapped by using a wheeled robot equipped with the microphone array. The robot localizes sounds direction on the move and estimates sound sources position using triangulation. Assuming the movement of sound sources, the system set a time limit and uses only the last few seconds data. By using the RAndom SAmple Consensus(RANSAC) algorithm for position estimation, we achieved 2D multiple sound source mapping from time limited data with high accuracy. Also, moving sound source separation is experimentally demonstrated with segments of the DSBF enhanced signal derived from the localization process.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages380-385
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period9/10/0615/10/06

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Sasaki, Y., Kagami, S., & Mizoguchi, H. (2006). Multiple sound source mapping for a mobile robot by self-motion triangulation. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 380-385). [4059011] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281797