The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 1P1-10a5
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Attenuation of peaks caused by Ego-noise on MUSIC spectrogram
-Application to Sound Source Localization by Multirotor Helicopter-
Kai WASHIZAKIMizuho WAKABAYASHIMakoto KUMON
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Abstract

Multirotor helicopters are expected to be utilized for various tasks including information collection at the time of the emergency, and they are equipped with sensors for recognizing the environment. Auditory information is considered in this paper since it can be used in cooperation with other information such as vision in order to enhance environment recognition. Although MUSIC is the robust signal processing algorithm that is commonly used for sound source localization, the noise generated by rotating rotors that is called ego-noise distorts the target signal significantly, which leads inaccurate estimation of the target source direction. This paper proposes a method to attenuate inaccurate estimation triggered by ego-noise.

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© 2016 The Japan Society of Mechanical Engineers
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