Design and assessment of sound source localization system with a UAV-embedded microphone array
| Autor: | Akihide Nagamine, Kazuhiro Nakadai, Osamu Sugiyama, Makoto Kumon, Kotaro Hoshiba, Ryosuke Kojima |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Microphone array General Computer Science business.industry Acoustics 020206 networking & telecommunications 02 engineering and technology Acoustic source localization 020901 industrial engineering & automation Noise-canceling microphone 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering business Simulation |
| Zdroj: | Journal of Robotics and Mechatronics. 29(No. 1):154-167 |
| Popis: | [abstFig src='/00290001/15.jpg' width='300' text='Visualization of localization result' ] We have studied on robot-audition-based sound source localization using a microphone array embedded on a UAV (unmanned aerial vehicle) to locate people who need assistance in a disaster-stricken area. A localization method with high robustness against noise and a small calculation cost have been proposed to solve a problem specific to the outdoor sound environment. In this paper, the proposed method is extended for practical use, a system based on the method is designed and implemented, and results of sound source localization conducted in the actual outdoor environment are shown. First, a 2.5-dimensional sound source localization method, which is a two-dimensional sound source localization plus distance estimation, is proposed. Then, the offline sound source localization system is structured using the proposed method, and the accuracy of the localization results is evaluated and discussed. As a result, the usability of the proposed extended method and newly developed three-dimensional visualization tool is confirmed, and a change in the detection accuracy for different types or distances of the sound source is found. Next, the sound source localization is conducted in real-time by extending the offline system to online to ensure that the detection performance of the offline system is kept in the online system. Moreover, the relationship between the parameters and detection accuracy is evaluated to localize only a target sound source. As a result, indices to determine an appropriate threshold are obtained and localization of a target sound source is realized at a designated accuracy. |
| Databáze: | OpenAIRE |
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