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Pregled bibliografske jedinice broj: 635935

Zbornik radova

Autori: Marković, Ivan; Portello, Alban; Danès, Patrick; Petrović, Ivan; Argentieri, Sylvain
Naslov: Active Speaker Localization with Circular Likelihoods and Bootstrap Filtering
Izvornik: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Invited Session on Robot AuditionTokio, Japan :
Skup: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Invited Session on Robot Audition
Mjesto i datum: Tokio, Japan, 03-07.11.2013.
Ključne riječi: Active Speaker Localization; Binaural Hearing; Circular Likelihood; Boostrap Filtering
Sažetak:
This paper deals with speaker localization in two dimensions from a mobile binaural head. A bootstrap particle filtering scheme is used to perform active localization, i.e. to infer source location by fusing the binaural perception with the sensor motor commands. It relies on an original pseudo-likelihood of the source azimuth which captures both the inter- aural level and phase differences. Since the pseudo-likelihood is discrete, it is fitted with a mixture of circular distributions in order to enhance its resolution. For the fitting task two mixtures are compared and evaluated, namely the mixture of von Mises and wrapped Cauchy distributions. Furthermore, a solution is presented for calculating the von Mises curvefitting with low uncertainty, since the direct implementation can quickly surpass double precision floating number representation. The performance of the filter is compared using both the raw and fitted pseudo-likelihoods on experiments recorded in an acoustically prepared room with ground-truth obtained from a motion capture system. The results show that the proposed algorithm successfully localizes the speaker with an advantage in the direction of the fitted von Mises mixture likelihood.
Vrsta sudjelovanja: Pozvano
Vrsta prezentacije u zborniku: Ostalo
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: ACROSS, 036-0363078-3018
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo,Temeljne tehničke znanosti
Puni text rada: 635935.iros2013_main.pdf (tekst priložen 26. Kol. 2013. u 16:11 sati)
Upisao u CROSBI: Ivan Marković (ivan.markovic@fer.hr), 5. Srp. 2013. u 16:45 sati



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