![]() In a real environment, the sound source may move. gave a simple solution for the linear equation in based on the far-field assumption and developed a novel weighting function method to estimate the time delay. īased on the geometrical relationship among time delay values, Walworth and Mahajan proposed a linear equation formulation for the estimation of the three-dimensional (3D) position of a wave source. MUSIC combined with spatial smoothing is one of the most popular methods for eliminating the coherence problem and it is also applied to the robot audition. The direction-of-arrival (DOA) is then estimated by projecting the manifold vectors onto the noise subspace. Another approach, proposed by Balan and Rosca, explores the eigenstructure of the correlation matrix of the microphone array by separating speech signals and noise signals into two orthogonal subspaces. Improvements on the performance in the multiple sources and reverberant environment have also been discussed. Among various kinds of sound localization methods, generalized cross correlation (GCC) was used for robotic applications but it is not robust under multiple sources environment. The idea of using multiple microphones to localize sound sources has been developed for a long time. Sound source localization is one of the fundamental features of robot audition for human-robot interaction as well as recognition of the environment.
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