研究実績の概要 |
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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