Circular microphone array for robot's audition

Proceedings of IEEE Sensors, 2004. Pub Date : 2004-12-01 DOI:10.1109/ICSENS.2004.1426228

Y. Tamai, S. Kagami, Y. Amemiya, Y. Sasaki, H. Mizoguchi, T. Takano

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引用次数: 24

Abstract

The paper describes a "32-channel circular microphone array" which can localize individual sounds from many sound sources in 360 degrees. This microphone array is used in robot audition. Because the microphone array has many microphones, it has tolerance for not only environmental noise but also noise caused by the robot. Moreover, it can localize and separate sound sources in all directions. Sound localization by the microphone array is achieved by a delay-and-sum beamforming algorithm. A dedicated IEEE 1394 32-channel analog-to-digital (A/D) board with microphone amplifier was developed for the microphone array in order to keep a fixed cycle such as a sampling rate of 11 kHz. Sound localization is evaluated by a sound pressure distribution map. A sound localization experiment was conducted with the microphone array mounted on a Nomad mobile robot. One discontinuous sound source, such as music, can be localized accurately. The error margin of sound localization is within about 3/spl deg/. In the future, we will place our microphone array on humanoid robots to confirm system performance in human environment.

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用于机器人试音的圆形麦克风阵列

本文介绍了一种“32声道圆形麦克风阵列”，该阵列可以360度定位多个声源中的单个声音。该麦克风阵列用于机器人试音。由于麦克风阵列中有多个麦克风，因此不仅对环境噪声有一定的容忍度，而且对机器人自身产生的噪声也有一定的容忍度。此外，它还可以对各个方向的声源进行定位和分离。麦克风阵列的声音定位是通过延迟和波束形成算法实现的。为了保持采样率为11khz的固定周期，为麦克风阵列开发了专用的IEEE 1394 32通道带麦克风放大器的模数(A/D)板。声音定位是通过声压分布图来评估的。将麦克风阵列安装在Nomad移动机器人上，进行了声音定位实验。一个不连续的声源，如音乐，可以精确定位。声音定位的误差范围在3/声压级左右。在未来，我们将把我们的麦克风阵列放置在人形机器人上，以确认系统在人类环境中的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of IEEE Sensors, 2004.

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