IngentaConnect Probabilistic Structure from Sound

Authors: Wang, Chieh-Chih¹; Lin, Chi-Hao¹; Hu, Jwu-Sheng²

Source: Advanced Robotics, Volume 23, Numbers 12-13, 2009 , pp. 1687-1702(16)

Abstract:

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach.

Keywords: AUDITORY PERCEPTION; MICROPHONE ARRAY; STRUCTURE FROM SOUND; UNSCENTED TRANSFORM

Document Type: Research article

DOI: 10.1163/016918609X12496339921975

Affiliations: 1: Department of Computer Science and Information Engineering and Graduate Institute of Networking and Multimedia, National Taiwan University, Taipei 10617, Taiwan 2: Intelligent Robotics Program of Industrial Technology Research Institute, and Department of Electrical and Control Engineering at National Chiao Tung University, HsinChu 310, Taiwan

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$25.00 plus tax Refund Policy