Systems, methods, apparatus, and computer-readable media for source localization using audible sound and ultrasound
First Claim
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1. A method of signal processing with a device, said method comprising:
- based on information from a first reflection of a first ultrasonic signal emitted by the device and detected by the device after being reflected from a sound-emitting object, estimating a first range of the sound-emitting object from the device;
based on the estimated first range, selecting one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation, wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and
performing the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component.
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Abstract
A method of signal processing includes calculating a range based on information from a reflected ultrasonic signal. Based on the calculated range, one among a plurality of direction-of-arrival (DOA) estimation operations is selected. The method also includes performing the selected operation to calculate an estimated direction of arrival (DOA) of an audio-frequency component of a multichannel signal. Examples of DOA estimation operations include operations based on phase differences between channels of the multichannel signal and operations based on a difference in gain between signals that are based on channels of the multichannel signal.
63 Citations
55 Claims
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1. A method of signal processing with a device, said method comprising:
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based on information from a first reflection of a first ultrasonic signal emitted by the device and detected by the device after being reflected from a sound-emitting object, estimating a first range of the sound-emitting object from the device; based on the estimated first range, selecting one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation, wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and performing the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An apparatus for signal processing, said apparatus comprising:
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means for estimating a first range of a sound-emitting object from the apparatus, based on information from a first reflection of a first ultrasonic signal emitted by the apparatus and detected by the apparatus after being reflected from the sound-emitting object; means for selecting one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation based on the estimated first range, wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and means for performing the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. An apparatus for signal processing, said apparatus comprising:
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a range estimator configured to estimate a first range of a sound-emitting object from the apparatus, based on information from a first reflection of a first ultrasonic signal emitted by the apparatus and detected by the apparatus after being reflected from the sound-emitting object; a comparator configured to select one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation, based on the estimated first range wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and a direction calculator configured to perform the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A non-transitory computer-readable storage medium having tangible features that cause a machine reading the features to:
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estimate a first range of a sound-emitting object from an apparatus, based on information from a first reflection of a first ultrasonic signal emitted by the apparatus and detected by the apparatus after being reflected from the sound-emitting object; select one among a gain-difference-based direction-of-arrival estimation operation and a phase-difference-based direction-of-arrival estimation operation based on the estimated first range, wherein the gain-difference-based direction-of-arrival estimation operation determines a difference between gains of signals that are based on channels of a multichannel signal, wherein the phase-difference-based direction-of-arrival estimation operation determines a difference between phases of different channels of the multichannel signal, and wherein the multichannel signal is based on at least one signal produced by at least one detector in response to the first reflection of the first ultrasonic signal by the sound-emitting object; and perform the selected direction-of-arrival estimation operation to calculate, based on information from an audio-frequency component of the multichannel signal, an estimate of a direction of arrival of the audio-frequency component. - View Dependent Claims (52, 53, 54, 55)
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Specification