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Method for locating a sound source, and humanoid robot using such a method

A sound source localization and sound source technology, applied in the field of humanoid robots, can solve problems such as reverberation sensitivity

Active Publication Date: 2016-10-12
ALDEBARAN ROBOTICS SA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the PHAT-GCC method, this method is more anti-noise but more sensitive to reverberation

Method used

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  • Method for locating a sound source, and humanoid robot using such a method
  • Method for locating a sound source, and humanoid robot using such a method
  • Method for locating a sound source, and humanoid robot using such a method

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Embodiment Construction

[0041] figure 1 Very schematically shown is the implementation of a method according to an embodiment of the invention by means of a system comprising a network of microphones M1-M4 and a processor PR.

[0042] In the illustrated case, the network includes four microphones, but the number could be smaller (at least three) or larger; also, although the microphones are shown aligned, their spatial configuration can be arbitrary. Preferably, a configuration will be chosen that minimizes occlusion situations, ie situations in which obstacles are interposed between the microphone and the spatial region in which the sound source is to be located.

[0043] The actual system also needs to include a microphone signal conditioning loop to ensure signal amplification, filtering, sampling and A / D conversion. These loops have been omitted for simplicity and readability of the drawing. In this case it will therefore be considered that the microphones M1-M4 provide the signal in digital fo...

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Abstract

The invention relates to 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 (E) that includes: a first subset (E1) of vectors compatible with sound signals from a single sound source at an unlimited distance from said microphones; and a second subset (E2) of vectors that are not compatible with sound signals from a single sound source at an unlimited distance from said microphones. Each vector of said first subset is associated with a direction for locating the corresponding single sound source, and each vector of said second subset is associated with the locating direction associated with a vector of said first subset closest thereto according to a predefined metric. The invention also relates to a humanoid robot including: a set of at least three microphones (M1, M2, M3, M4), preferably arranged on a surface higher than the head thereof; and a processor (PR) for implementing one such method.

Description

technical field [0001] The present invention relates to a method of spatial localization of sound sources, and to a humanoid robot capable of implementing and using such a method. Background technique [0002] Spatial localization of sound sources is necessary in a variety of applications, not exclusively in humanoid robots. [0003] Humanoid qualities can be imparted to a robot when it has some human-like attributes and functions: a head, a body, two arms, optionally two legs, etc. In general, humanoid robots are required to be able to interact with humans as "naturally" as possible by observing their appearance, understanding their language, talking to them, and so on. For this purpose, the ability to localize sound sources is extremely useful, even necessary. In fact, this ability enables a humanoid robot to determine the direction in which a sound is coming from and to turn its head in that direction; if the sound is made by a human, the robot can activate facial recog...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S3/808
CPCG01S3/8083
Inventor G·伦普
Owner ALDEBARAN ROBOTICS SA
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