The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Performance analysis of GCC-PHAT-based sound source localization for intelligent robots

지능형 로봇을 위한 GCC-PHAT 기반 음원추적 기술의 성능분석

  • 박범철 (과학기술연합대학원대학교 컴퓨터소프트웨어 및 공학과) ;
  • 반규대 (과학기술연합대학원대학교 컴퓨터소프트웨어 및 공학과) ;
  • 곽근창 (조선대학교 전자정보공과대학 제어계측공학과) ;
  • 윤호섭 (한국전자통신연구원 지능형로봇 연구단 인간로봇상호작용 연구팀)
  • Published : 2007.09.29
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Abstract

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)-PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.

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