Online Short-Term Multiple Sound Source Mapping for a Mobile Robot by Robust Motion Triangulation

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  • Yoko Sasaki
    a Department of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan; Digital Human Research Center, National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Kouto-ku, Tokyo 135-0064, Japan
  • Satoshi Kagami
    b Department of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan; Digital Human Research Center, National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Kouto-ku, Tokyo 135-0064, Japan
  • Hiroshi Mizoguchi
    c Department of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan; Digital Human Research Center, National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Kouto-ku, Tokyo 135-0064, Japan

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The paper describes a two-dimensional (2-D) sound source mapping system for a mobile robot. The robot localizes the directions of sound sources while moving and estimates the positions of sound sources using triangulation from a short time period of directional localization results. Three key components are denoted. (i) Directional localization and separation method of different pressure sound sources by combining the Delay and Sum Beam Forming (DSBF) and the Frequency Band Selection (FBS) algorithms. (ii) The design of the microphone array by beam forming simulation to increase the resolution of the localization procedure and its robustness to ambient noise. (iii) Sound position estimation by using the RAndom SAmple Consensus (RANSAC) algorithm. Then we achieved 2-D multiple sound source mapping from time-limited data with high accuracy. Applying FBS as a binary filter after DSBF improves robustness for multiple sound source localization under robotic movement. In addition, a moving sound source separati...

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