ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-J02
会議情報

マイクロホンアレイ素子間の相関を尤度と仮定する屋内音響測位手法
*小木曽 里樹水谷 孝一若槻 尚斗海老 原格
著者情報
会議録・要旨集 認証あり

詳細
抄録

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.

著者関連情報
© 2018 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top