TY - GEN
T1 - Improvement of speaker localization by considering multipath interference of sound wave for binaural robot audition
AU - Kim, Ui Hyun
AU - Mizumoto, Takeshi
AU - Ogata, Tetsuya
AU - Okuno, Hiroshi G.
PY - 2011/12/29
Y1 - 2011/12/29
N2 - This paper presents an improved speaker localization method based on the generalized cross-correlation (GCC) method weighted by the phase transform (PHAT) for binaural robot audition. The problem with the conventional direction-of-arrival (DOA) estimation based on the GCC-PHAT method is a multipath interference whereby a sound wave travels to microphones via the front-head path and the back-head path in binaural robot audition. This paper describes a new time delay factor for the GCC-PHAT method to compensate multipath interference on the assumption of spherical robot head. In addition, the restriction of the time difference of arrival (TDOA) estimation by the sampling frequency is also solved by applying the maximum likelihood (ML) estimation in frequency domain. Experiments conducted in the SIG-2 humanoid robot show that the proposed method reduces localization errors by 17.8 degrees on average and by over 35 degrees in side directions comparing to the conventional DOA estimation.
AB - This paper presents an improved speaker localization method based on the generalized cross-correlation (GCC) method weighted by the phase transform (PHAT) for binaural robot audition. The problem with the conventional direction-of-arrival (DOA) estimation based on the GCC-PHAT method is a multipath interference whereby a sound wave travels to microphones via the front-head path and the back-head path in binaural robot audition. This paper describes a new time delay factor for the GCC-PHAT method to compensate multipath interference on the assumption of spherical robot head. In addition, the restriction of the time difference of arrival (TDOA) estimation by the sampling frequency is also solved by applying the maximum likelihood (ML) estimation in frequency domain. Experiments conducted in the SIG-2 humanoid robot show that the proposed method reduces localization errors by 17.8 degrees on average and by over 35 degrees in side directions comparing to the conventional DOA estimation.
UR - http://www.scopus.com/inward/record.url?scp=84455195816&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455195816&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048364
DO - 10.1109/IROS.2011.6048364
M3 - Conference contribution
AN - SCOPUS:84455195816
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2910
EP - 2915
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -