MALSORI (대한음성학회지:말소리)
- Issue 57
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- Pages.85-97
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- 2006
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- 1226-1173(pISSN)
Sound Source Localization Technique at a Long Distance for Intelligent Service Robot
지능형 서비스 로봇을 위한 원거리 음원 추적 기술
- Lee Ji-Yeoun (ICU) ;
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Hahn Min-Soo
(ICU)
- Published : 2006.03.01
Abstract
This paper suggests an algorithm that can estimate the direction of the sound source in real time. 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 can take shorter execution time than that of an existing algorithm to fit the real-time service robot. Also, using the Kalman filter, signal ratio relative to background noise, SNR, is approximately improved to 8 dB. And the estimation result of azimuth shows relatively small error within the range of