A unified framework for multiple arrays on a robot and application to sound localization

L. Madmoni, H. Barfuss, B. Rafaely, W. Kellermann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The auditory system of humanoid robots has recently gained significant attention in the research community. This system enables interaction with the surroundings via microphone arrays embodied into the robot. Typically, a single array topology is designed which may limit the performance of the auditory system. In a recent paper, a system with two array types has been studied: the first consists of sensors distributed over the robot's head, and the second is a body-mounted robomorphic array. These arrays have only been studied separately without exploiting their performance as a single array. In this work, a unified framework has been developed for the two arrays in the spherical harmonics domain, and an initial investigation of direction of arrival estimation (DOA) with the unified framework is presented. The simulation study shows that the unified framework outperforms DOA estimation with the individual arrays, mainly at the low frequency range.

Original languageEnglish
Title of host publication2017 Hands-Free Speech Communications and Microphone Arrays, HSCMA 2017 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages66-70
Number of pages5
ISBN (Electronic)9781509059256
DOIs
StatePublished - 10 Apr 2017
Event2017 Hands-Free Speech Communications and Microphone Arrays, HSCMA 2017 - San Francisco, United States
Duration: 1 Mar 20173 Mar 2017

Publication series

Name2017 Hands-Free Speech Communications and Microphone Arrays, HSCMA 2017 - Proceedings

Conference

Conference2017 Hands-Free Speech Communications and Microphone Arrays, HSCMA 2017
Country/TerritoryUnited States
CitySan Francisco
Period1/03/173/03/17

Keywords

  • DOA Estimation
  • Humanoid Robots
  • Robot Audition
  • Spherical Harmonics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Acoustics and Ultrasonics
  • Instrumentation
  • Communication

Fingerprint

Dive into the research topics of 'A unified framework for multiple arrays on a robot and application to sound localization'. Together they form a unique fingerprint.

Cite this