日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
クワドロコプタ搭載のマイクロホンアレイを用いた屋外音環境理解の逐次雑音推定による向上
奥谷 啓太吉田 尚水中村 圭佑中臺 一博
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2013 年 31 巻 7 号 p. 676-683

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This paper addresses sound source localization using an aerial vehicle with a microphone array in an outdoor environment to realize outdoor auditory scene analysis. It, for instance, aims at finding distressed people in a disaster situation. In such an environment, noise is quite loud and dynamically-changing, and conventional microphone array techniques studied in the field of indoor robot audition are of less use. We, thus, proposed MUltiple SIgnal Classification based on incremental Generalized EigenValue Decomposition (iGEVD-MUSIC). It can deal with dynamically-changing high power noise by introducing incrementally-estimated noise correlation matrices. We developed a prototype system for the outdoor auditory scene analysis based on the proposed method using the Parrot AR.Drone with an 8ch microphone array and a Kinect device. Experimental results using the prototype system showed that dynamically-changing noise is properly suppressed with the proposed method even when the signal-to-noise ratio is less than 0dB in an outdoor/indoor environment with the hovering/moving AR.Drone.

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© 2013 日本ロボット学会
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