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Conference paper

Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling


Proceedings of the ISR/ROBOTIK 2010, pp.2127, 2010

ABSTRACT: This paper deals with the problem of localizing and tracking a moving speaker over the full range around the mobile robot. The proposed algorithm is based on estimating the time difference of arrival by maximizing the weighted crosscorrelation function in order to, by series of geometrical calculation, determine the azimuth angle of the detected speaker. A post processing technique is proposed in which each of these microphonepair determined azimuths are further combined into a mixture of the von Mises distributions, thus producing a practical probabilistic representation of the microphone array measurement. It is shown that this distribution is inherently multimodal and that the system at hand is nonlinear, which required a discrete representation of the distribution function by means of particle filtering. Experiments were conducted and the results show that the algorithm can reliably and accurately localize and track a moving sound source.

BibTeX entry:
@inproceedings \{Markovic2010_412,
author = \{Markovi\'{c}, I. AND Petrovi\'{c}, I.},
title = \{Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling}, booktitle = {Proceedings of the ISR/ROBOTIK 2010}, pages = \{2127}, year = \{2010} }




