Probabilistic sound source localization with active pinnae and robot head motion
| Project/Area Number |
24500210
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Kumamoto University |
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Principal Investigator |
KUMON Makoto 熊本大学, 自然科学研究科, 准教授 (70332864)
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| Research Collaborator |
FURUKAWA Tomonari Virgina Polytechnic Institute and State University, Professor
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 音源定位 / 能動耳介 / ロボット聴覚 / アクティブセンシング / 確率的状態推定 / 動作計画 / 国際情報交換（アメリカ合衆国） / 国際情報交換 / アメリカ合衆国 |
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| Outline of Final Research Achievements |
In this study, a robot system with active pinnae is considered in order to achieve sound source localization. Localization method based on pre-measured acoustic database is introduced, and uncertainty model for the system is proposed. It was verified by experiments that the proposed method succeeded to localize a sound source under noisy environment. Ego-noise that is generated during a robot motion is also considered, and a primitive action of the robot is studied.
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Report
(4 results)
Research Products
(11 results)
