Sound source localization using phase spectrum
First Claim
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1. A computer-implemented process comprising:
- receiving signals from a plurality of pairs of microphones into a memory;
processing the signals from the microphones to identify when the signals are active;
computing frequency spectrum data for the signals;
for each pair of active signals;
determining a phase spectrum of a cross power spectrum using the frequency spectrum data of the pair of active signals,determining a phase distortion for the pair from the phase spectrum, andderiving a candidate angle from the determined phase distortion; and
selecting an angle from among the candidate angles derived for the plurality of pairs of microphones.
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Abstract
An array of microphones placed on a mobile robot provides multiple channels of audio signals. A received set of audio signals is called an audio segment, which is divided into multiple frames. A phase analysis is performed on a frame of the signals from each pair of microphones. If both microphones are in an active state during the frame, a candidate angle is generated for each such pair of microphones. The result is a list of candidate angles for the frame. This list is processed to select a final candidate angle for the frame. The list of candidate angles is tracked over time to assist in the process of selecting the final candidate angle for an audio segment.
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Citations
20 Claims
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1. A computer-implemented process comprising:
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receiving signals from a plurality of pairs of microphones into a memory; processing the signals from the microphones to identify when the signals are active; computing frequency spectrum data for the signals; for each pair of active signals; determining a phase spectrum of a cross power spectrum using the frequency spectrum data of the pair of active signals, determining a phase distortion for the pair from the phase spectrum, and deriving a candidate angle from the determined phase distortion; and selecting an angle from among the candidate angles derived for the plurality of pairs of microphones. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An article of manufacture comprising:
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a computer storage medium; computer program instructions stored on the computer storage medium which, when processed by a processing device, instruct the processing device to perform a process comprising; receiving signals from a plurality of pairs of microphones into a memory; processing the signals from the microphones to identify when the signals are active; computing frequency spectrum data for the signals; for each pair of active signals; determining a phase spectrum of a cross power spectrum using the frequency spectrum data of the pair of active signals, determining a phase distortion for the pair from the phase spectrum, and deriving a candidate angle from the determined phase distortion; and selecting an angle from among the candidate angles derived for the plurality of pairs of microphones. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computing machine comprising:
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a memory; an input for receiving signals from a plurality of pairs of microphones into the memory; a processing unit configured to process the signals from the microphones to identify when the signals are active and compute frequency spectrum data for the signals; wherein the processing unit is further configured to, for each pair of active signals, determine a phase spectrum of a cross power spectrum using the frequency spectrum data of the pair of active signals, determine a phase distortion for the pair using the phase spectrum, and derive a candidate angle from the phase distortion, and select an angle from among the candidate angles derived for the plurality of pairs of microphones. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification