智能系统学报2012，Vol.7Issue(1)：9-20,12.DOI:10.3969/j.issn.1673-4785.201201003
机器人听觉声源定位研究综述
A survey of sound source localization for robot audition
摘要
Abstract
The technology of sound source localization can localize the direction and position of a sound source relative to a robot. Sound source localization system for robot audition can greatly improve the ability of a robot to interact with external conditions. The summary and analysis of sound source localization for robot audition can significantly promote the development of intelligent robots. In this work, first, the characteristics of sound source localization for robot audition were summarized. The key technologies were summarized, including the time delay of arrival, steered beamforming, high resolution spectral estimation, binaural, active audition, and audio-visual. Then, the models of a microphone array were classified, and the performances of seven typical systems based on a 3-D microphone array, 2-D microphone array, and binaural were compared. Finally, the applications of a sound source localization system of robot audition were summarized. Several issues that sound source localization systems face as well as development trends were analyzed.关键词
机器人/机器人听觉/声源定位/麦克风阵列Key words
robot/ robot audition/ sound source localization/ microphone array分类
信息技术与安全科学引用本文复制引用
李晓飞,刘宏..机器人听觉声源定位研究综述[J].智能系统学报,2012,7(1):9-20,12.基金项目
国家“863”计划资助项目 (2006AA04Z247) （2006AA04Z247）
国家自然科学基金资助项目(60675025,60875050) （60675025,60875050）
深圳市科技计划及基础研究计划资助项目(JC20090316039). （JC20090316039）
