モジュールロボット用小型音源方向推定装置の開発

抄録

In this study, we propose a small sound source direction estimation device for module robot(MMS). The proposed device estimates sound source direction by using sound signals from two microphones. The sound source direction is calculated from the reception time difference between the two microphone signals using FFT analysis. We conduct experiments and evaluations under multiple sound sources and the sound source with various frequencies such a human voice. Multiple sound sources direction estimation was performed with a mean angle error of 11.50° and angle standard deviation of 11.33° for present experiment conditions. The average error of 7.83° and standard deviation of 8.14° are also observed for human voice sound source.