ICRA 2012 Paper Abstract


Paper WeC07.6

Shen, Guanghu, Guanghu (KIST, Biomedical research institute), Hwang, Dohyung (Korea Institute of Science and Technology), Nguyen, Quang (Korea Institute of Science and Technology), Choi, Jongsuk (Korea Inst. of Sci. and Tech.)

Robust Sound Localization for Various Platform of Robots Using TDOA Map Adaptation

Scheduled for presentation during the Regular Session "Environment Mapping" (WeC07), Wednesday, May 16, 2012, 15:45−16:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Localization, Physical Human-Robot Interaction


In realistic environments, mismatches between the calculated angle-TDOA map with its real exact values are the major reason of performance degradation in sound localization. Usually, those mismatches come from some certain configuration errors or deviations caused by the change of environments. To reduce those mismatches, in this paper we proposed an angle-TDOA map adaptation method, which can achieve the robust sound localization in various robot platforms (i.e., various types of microphone array configuration). Especially, the proposed method is possible to easily apply to the sound localization system by using only several sound sources which generated from some known directions. As a result, the proposed method not only showed a good localization performance, and the program running time is also very short.



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