Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation

Jwu-Sheng Hu; Chia Hsing Yang; Cheng Kang Wang

doi:10.1109/ARSO.2008.4653625

Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation

Jwu-Sheng Hu^*, Chia Hsing Yang, Cheng Kang Wang

^*Corresponding author for this work

National Chiao Tung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can be estimated using an array. Further, the correctness of sound speed estimation can be utilized to determine locations of multiple sources. This work derives in detail the method to estimate the directions of dual sources. A digital microphone array and associated acquisition system is developed for conducting the experiment. Experimental results prove the effectiveness of the proposed algorithms.

Original language	English
Title of host publication	IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs	https://doi.org/10.1109/ARSO.2008.4653625
State	Published - 1 Dec 2008
Event	IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan Duration: 23 Aug 2008 → 25 Aug 2008

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
Country	Taiwan
City	Taipei
Period	23/08/08 → 25/08/08

Access to Document

10.1109/ARSO.2008.4653625

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Hu, J-S., Yang, C. H., & Wang, C. K. (2008). Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation. In IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 [4653625] (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2008.4653625

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title = "Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation",

abstract = "Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can be estimated using an array. Further, the correctness of sound speed estimation can be utilized to determine locations of multiple sources. This work derives in detail the method to estimate the directions of dual sources. A digital microphone array and associated acquisition system is developed for conducting the experiment. Experimental results prove the effectiveness of the proposed algorithms.",

author = "Jwu-Sheng Hu and Yang, {Chia Hsing} and Wang, {Cheng Kang}",

year = "2008",

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doi = "10.1109/ARSO.2008.4653625",

language = "English",

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series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

booktitle = "IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008",

note = "null ; Conference date: 23-08-2008 Through 25-08-2008",

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Hu, J-S, Yang, CH & Wang, CK 2008, Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation. in IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008., 4653625, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008, Taipei, Taiwan, 23/08/08. https://doi.org/10.1109/ARSO.2008.4653625

Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation. / Hu, Jwu-Sheng; Yang, Chia Hsing; Wang, Cheng Kang.

IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008. 2008. 4653625 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can be estimated using an array. Further, the correctness of sound speed estimation can be utilized to determine locations of multiple sources. This work derives in detail the method to estimate the directions of dual sources. A digital microphone array and associated acquisition system is developed for conducting the experiment. Experimental results prove the effectiveness of the proposed algorithms.

AB - Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can be estimated using an array. Further, the correctness of sound speed estimation can be utilized to determine locations of multiple sources. This work derives in detail the method to estimate the directions of dual sources. A digital microphone array and associated acquisition system is developed for conducting the experiment. Experimental results prove the effectiveness of the proposed algorithms.

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Hu J-S, Yang CH, Wang CK. Sound source localization by microphone array on a mobile robot using eigen-structure based generalized cross correlation. In IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008. 2008. 4653625. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2008.4653625