Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
In this paper, an indoor acoustic localization method which uses cross-correlation function for evaluating likelihood is proposed. The proposed method utilize acoustic beacons deployed at known locations and an microphone array equipped on a localizing object. At first, cross-correlation functions of the microphone array elements were calculated for each beacon and normalized as probability density function. Secondly, likelihoods of the estimated location candidates were evaluated using the above-mentioned probability density function. Thirdly, the estimated location was calculated as weighted summation of the particles and likelihoods. The experiment was conducted with a mobile robot in indoor environment. The result showed that the proposed method is possible to estimate location at similar accuracy of previous method.
