2017 Fiscal Year Annual Research Report
Using mobility to localize sound sources in complex environments
| Project/Area Number |
16K16135
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| Research Institution | Advanced Telecommunications Research Institute International |
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Principal Investigator |
Even Jani 株式会社国際電気通信基礎技術研究所, 石黒浩特別研究所, 研究員 (40586228)
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Keywords | sound localization / sound mapping / Field of view |
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| Outline of Annual Research Achievements |
The mobile robot is able to navigate in an environment and estimate the spatial distribution of sound sources. Using the geometric information of the environment, reflected sounds are also estimated. The sound source localization is performed using a sampling grid generated from a quadtree structure which results in a flexible way of scanning the environment. The underlying quadtree structure is exploited for finding the local maxima of the sound distribution and pinpoint source locations. A way to modulate the sound perception inside and outside the field of view has been implemented in order to prioritize sound sources that are not visible.
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