Probabilistic Structure from Sound and Sound Source Localization
Date Issued
2008
Date
2008
Author(s)
Lin, Chi-Hao
Abstract
Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. The thesis first describes the affine Structure from Sound (SFS) algorithm. The structure from sound is a problem to simultaneously localize microphones and sound sources. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this thesis, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform. The PSFS algorithm not only localizes microphones and sound sources but also estimates the uncertainties of the SFS results. In addition, a probabilistic sound source localization (PSSL) approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low cost, off-the-shell microphones demonstrate the feasibility and performance of the proposed PSFS and PSSL approaches.
Subjects
microphone arrays
structure from sound
sound source localization
Type
thesis
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