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

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.