Utilizing motion in humanoid robots to enhance spatial information recordedby microphone arrays

Vladimir Tourbabin, Boaz Rafaely

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

4 Scopus citations

Abstract

A recent and fast evolving application for microphone arrays is the auditory systems of humanoid robots. These arrays, in contrast to conventional arrays, are not fixed in a given position, but move together with the robot. While imposing a challenge to most conventional array processing algorithms, this movement offers an opportunity to enhance performance if utilized in an appropriate manner. The array movement can increase the amount of information gathered and, therefore, improve various aspects of array processing. This paper presents a theoretical framework for the processing of moving microphone arrays for humanoid robot audition based on a representation of the surrounding sound field in the spherical harmonics domain. A simulation study is provided, illustrating the use and the potential advantage of the proposed framework.

Original languageEnglish
Title of host publication2014 4th Joint Workshop on Hands-Free Speech Communication and Microphone Arrays, HSCMA 2014
PublisherIEEE Computer Society
Pages147-151
Number of pages5
ISBN (Print)9781479931095
DOIs
StatePublished - 1 Jan 2014
Event2014 4th Joint Workshop on Hands-Free Speech Communication and Microphone Arrays, HSCMA 2014 - Villers-les-Nancy, France
Duration: 12 May 201414 May 2014

Publication series

Name2014 4th Joint Workshop on Hands-Free Speech Communication and Microphone Arrays, HSCMA 2014

Conference

Conference2014 4th Joint Workshop on Hands-Free Speech Communication and Microphone Arrays, HSCMA 2014
Country/TerritoryFrance
CityVillers-les-Nancy
Period12/05/1414/05/14

Keywords

  • Microphone array
  • moving array
  • robot audition
  • rotation
  • spherical harmonics
  • translation

ASJC Scopus subject areas

  • Computer Networks and Communications

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