Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays

Kazuhiro Nakadai; Hirofumi Nakajima; Masamitsu Murase; Hiroshi G. Okuno; Yuji Hasegawa; Hiroshi Tsujino

doi:10.1109/IROS.2006.281737

Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays

Kazuhiro Nakadai^*, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino

^*Corresponding author for this work

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

32 Citations (Scopus)

Abstract

Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	852-859
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2006.281737
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing Duration: 2006 Oct 9 → 2006 Oct 15

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
City	Beijing
Period	06/10/9 → 06/10/15

ASJC Scopus subject areas

Control and Systems Engineering

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10.1109/IROS.2006.281737

Cite this

Nakadai, K, Nakajima, H, Murase, M, Okuno, HG, Hasegawa, Y & Tsujino, H 2006, Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays. in IEEE International Conference on Intelligent Robots and Systems., 4058468, pp. 852-859, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 06/10/9. https://doi.org/10.1109/IROS.2006.281737

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abstract = "Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.",

author = "Kazuhiro Nakadai and Hirofumi Nakajima and Masamitsu Murase and Okuno, {Hiroshi G.} and Yuji Hasegawa and Hiroshi Tsujino",

year = "2006",

doi = "10.1109/IROS.2006.281737",

language = "English",

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AU - Nakadai, Kazuhiro

AU - Nakajima, Hirofumi

AU - Murase, Masamitsu

AU - Okuno, Hiroshi G.

AU - Hasegawa, Yuji

AU - Tsujino, Hiroshi

PY - 2006

Y1 - 2006

N2 - Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.

AB - Real-time and robust sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originate from. This paper addresses real-time sound source tracking by real-time integration of an in-room microphone array (IRMA) and a robot-embedded microphone array (REMA). The IRMA system consists of 64 ch microphones attached to the walls. It localizes multiple sound sources based on weighted delay-and-sum beamforming on a 2D plane. The REMA system localizes multiple sound sources in azimuth using eight microphones attached to a robot's head on a rotational table. The localization results are integrated to track multiple sound sources by using a particle filter in real-time. The experimental results show that particle filter based integration improved accuracy and robustness in multiple sound source tracking even when the robot's head was in rotation.

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BT - IEEE International Conference on Intelligent Robots and Systems

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Y2 - 9 October 2006 through 15 October 2006

ER -

Real-time tracking of multiple sound sources by integration of in-room and robot-embedded microphone arrays

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