대한음성학회:학술대회논문집 (Proceedings of the KSPS conference)

대한음성학회 (The Korean Society Of Phonetic Sciences And Speech Technology)
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지능형 로봇 '웨버'를 위한 음원 추적 기술

Sound Localization Technique for Intelligent Service Robot 'WEVER'

  • 이지연 (한국정보통신대학교 음성음향정보연구실) ;
  • 한민수 (한국정보통신대학교 음성음향정보연구실) ;
  • 지수영 (한국전자통신연구원 지능형로봇연구단) ;
  • 조영조 (한국전자통신연구원 지능형로봇연구단)
  • Lee, Ji-Yeoun (Speech and Audio Information Lab, Information and Communication Univ.) ;
  • Hahn, Min-Soo (Speech and Audio Information Lab, Information and Communication Univ.) ;
  • Ji, Su-young (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute) ;
  • Cho, Young-Jo (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute)
  • 발행 : 2005.11.17
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초록

This paper suggests an algorithm that can estimate the direction of the sound source in realtime. Our intelligent service robot, WEVER, is used to implement the proposed method at the home environment. The algorithm uses the time difference and sound intensity information among the recorded sound source by four microphones. Also, to deal with noise of robot itself, the kalman filter is implemented. The proposed method takes shorter execution time than that of an existing algorithm to fit the real-time service robot. The result shows relatively small error within the range of ${\pm}$ 7 degree.

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