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Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling (CROSBI ID 560490)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Marković, Ivan ; Petrović, Ivan Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling // Proceedings for the Joint Conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics). München, 2010. str. 21-27

Podaci o odgovornosti

Marković, Ivan ; Petrović, Ivan

engleski

Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling

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 cross-correlation 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 microphone-pair 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 non-linear, 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.

Speaker localization; microphone array; von Mises distribution; Particle Filtering

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Podaci o prilogu

21-27.

2010.

objavljeno

Podaci o matičnoj publikaciji

Proceedings for the Joint Conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics)

München:

Podaci o skupu

The joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010)

predavanje

07.07.2010-09.07.2010

München, Njemačka

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti