Simultaneous localization of a mobile robot and multiple sound sources using a microphone array

Jwu-Sheng Hu, Chen Yu Chan, Cheng Kang Wang, Ming Tang Lee*, Ching Yi Kuo

*Corresponding author for this work

Research output: Contribution to journalArticle

30 Scopus citations

Abstract

Sound source localization is an important function in robot audition. Most existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross-correlation method for estimating time delays between microphones under multi-source environments is described. Using the estimated time delays, a method to compute the farfield source directions as well as the speed of sound is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearing-only simultaneous localization and mapping procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown and it is solved using the FastSLAM algorithm. The experimental results demonstrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)135-152
Number of pages18
JournalAdvanced Robotics
Volume25
Issue number1-2
DOIs
StatePublished - 1 Jan 2011

Keywords

  • bearing-only SLAM
  • generalized cross correlation
  • microphone array
  • Sound source localization
  • time delay estimation

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