Probabilistic sound source localization with active pinnae and robot head motion

2014 Fiscal Year Final Research Report

• Project/Area Number: 24500210
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Kumamoto University
• Principal Investigator: KUMON Makoto 熊本大学, 自然科学研究科, 准教授 (70332864)
• Research Collaborator: FURUKAWA Tomonari Virgina Polytechnic Institute and State University, Professor
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 音源定位 / 能動耳介

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.

Free Research Field

ロボット工学