Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array?
نویسندگان
چکیده
In this paper a method for speaker localization and tracking is proposed based on Time Difference of Arrival estimation enhanced with so called tuned phase transform. The localization method is based on Pseudo-linear estimator, and Y-shaped array for spatial sampling is proposed and compared to square array. The tracking is realized with Recursive Least-Squares algorithm. At the end, results recorded on a mobile robot are presented, showing that the developed audio interface and algorithm can localize and track speaker in mobile robot environment.
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تاریخ انتشار 2010