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Communication Dans Un Congrès Année : 2005

Prototyping filter-sum beamformers for sound source localization in mobile robotics

Résumé

The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A rapid prototyping method is proposed to design filter-sum beamformers on the basis of convex optimization. This method is well-suited to robotics applications as it copes with real-time constraints and allows the localization of broadband signals such as human voice. Numerous simulation results are used to illustrate the reasoning.
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Dates et versions

hal-03196435 , version 1 (12-04-2021)

Identifiants

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Sylvain Argentieri, Patrick Danès, Philippe Souères. Prototyping filter-sum beamformers for sound source localization in mobile robotics. IEEE International Conference on Robotics and Automation (ICRA), Apr 2005, Barcelona, Spain. pp.3551-3556, ⟨10.1109/ROBOT.2005.1570660⟩. ⟨hal-03196435⟩
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