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Sound Source Localization for Robot Auditory Systems
- Authors
- Cho, Youngkyu; Yook, Dongsuk; Chang, Sukmoon; Kim, Hyunsoo
- Issue Date
- Aug-2009
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Sound source localization; steered response power (SRP); search space clustering; small scale microphone array; robot auditory system; intelligent home robot
- Citation
- IEEE TRANSACTIONS ON CONSUMER ELECTRONICS, v.55, no.3, pp.1663 - 1668
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON CONSUMER ELECTRONICS
- Volume
- 55
- Number
- 3
- Start Page
- 1663
- End Page
- 1668
- ISSN
- 0098-3063
- Abstract
- Sound source localization (SSL) is a major, function of robot auditory systems for intelligent home robots. The steered response power-phase transform (SRP-PHAT) is a widely used method for robust SSL. However, it is too slow to run in real time, since SRP-PHAT searches a large number of candidate sound source locations. This paper proposes a search space clustering method designed to speed tip the SRP-PHAT based sound source localization algorithm for intelligent home robots equipped with small scale microphone arrays. The proposed method reduces the number of candidate sound source locations by 30.6% and achieves 46.7% error reduction compared to conventional methods.(1)
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