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Conference paper
Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array
Proceedings of the 40th International Symposium on Robotics (ISR'09), pp.283-288, 2009
ABSTRACT:
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.
BibTeX entry:
@inproceedings \{Markovic2009_406,
author = \{Markovi\'{c}, I. AND Petrovi\'{c}, I.},
title = \{Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array},
booktitle = {Proceedings of the 40th International Symposium on Robotics (ISR'09)},
pages = \{283-288},
year = \{2009}
}

 

 

 

 

 

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