engleski

Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array

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.

speaker localization; microphone; TDOA; RLS

nije evidentirano