Multiple Moving Speakers Tracking Based on Multiple Kalman Filters and Accuracy Evaluation
نویسندگان
چکیده
This paper presents multiple moving speaker tracking using an 8ch microphone array system installed on a mobile robot. We use a set of Kalman filters with different history lengths in order to track non-linear movements of multiple speakers. For quantitative evaluation of the tracking, motion references of sound sources and a mobile robot, called SIG2, were measured accurately by ultrasonic 3D tag sensors. As a result, we showed that the system tracked three simultaneous sound sources even when SIG2 moved.
منابع مشابه
Multiple moving speaker tracking by microphone array on mobile robot
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تاریخ انتشار 2005