Title:
音源の位置を特定する方法、および当該方法を用いる人型ロボット
Document Type and Number:
Japanese Patent JP6521954
Kind Code:
B2
Abstract:
A method for locating a sound source by maximizing a directed response strength calculated for a plurality of vectors of the interauricular time differences forming a set comprises: a first subset of vectors compatible with sound signals from a single sound source at an unlimited distance from the microphones; and a second subset of vectors not compatible with sound signals from a signal sound source at an unlimited distance from the microphones. Each vector of the first subset is associated with a direction for locating the corresponding single sound source, and each vector of the second subset is associated with the locating direction of a vector of the first subset closest thereto according to a predefined metric. A humanoid robot including: a set of at least three microphones, arranged on a surface higher than the head of thereof; and a processor for implementing one such method is provided.
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Inventors:
Lamp, gregory
Application Number:
JP2016519371A
Publication Date:
May 29, 2019
Filing Date:
September 29, 2014
Export Citation:
Assignee:
SOFTBANK ROBOTICS EUROPE
International Classes:
G01S3/808; H04R1/40
Domestic Patent References:
| JP4157581B2 | ||||
| JP2002513979A |
Foreign References:
| US20030072456 |
Other References:
JACEK DMOCHOWSKI et al.,"FAST STEERED RESPONSE POWER SOURCE LOCALIZATION USING INVERSE MAPPING OF RELATIVE DELAYS",ACOUSTICS, SPEECH AND SIGNAL PROCESSING, 2008. ICASSP 2008. IEEE INTERNATIONAL CONFERENCE ON,米国,2008年 3月31日,p.289-292
玉川 聡,外2名,“ロボットとの対話における3マイクを用いた発話者の位置推定法”,第10回情報学ワークショップ(WiNF2012)講演論文集,2012年12月 9日,p.143-146
タク 暁東,外4名,“高次モーメント分析に基づく非線形GCCによる高精度到来時間差推定”,日本音響学会 2013年 秋季研究発表会講演論文集CD-ROM [CD-ROM],2013年 9月17日,p.747-750
玉川 聡,外2名,“ロボットとの対話における3マイクを用いた発話者の位置推定法”,第10回情報学ワークショップ(WiNF2012)講演論文集,2012年12月 9日,p.143-146
タク 暁東,外4名,“高次モーメント分析に基づく非線形GCCによる高精度到来時間差推定”,日本音響学会 2013年 秋季研究発表会講演論文集CD-ROM [CD-ROM],2013年 9月17日,p.747-750
Attorney, Agent or Firm:
Kawaguchi International Patent Office