Sound source localization apparatus and sound source localization method

• US 9,055,356 B2
• Filed: 06/01/2010
• Issued: 06/09/2015
• Est. Priority Date: 06/04/2009
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Nakadai, Kazuhiro, Nakajima, Hirofumi, Nakamura, Keisuke
• Primary Examiner(s): Lao, Lun-See
• Application Number:
  US12/791,423
• Publication Number:
  US 20100329479A1
• Time in Patent Office: 1,834 Days
• Field of Search: 381/97, 381/92, 381/98, 381/122, 381/113, 381/111, 381/114, 381/56, 381/58, 381/303, 381103-107, 381/1, 381/94.1, 381/310, 381 942- 948, 381 711- 716, 342/417, 704/225, 704/226, 704/233
• US Class Current: 1/1
• CPC Class Codes: B25J 9/00 Programme-controlled manipulators
• CPC Class Codes: H04R 3/005 for combining the signals of two or more microphones specially adapted for hearing aids H04R25/407

Abstract

A sound source localization apparatus for localizing a sound source using an eigenvector, includes, a sound signal input unit inputting a sound signal, a correlation matrix calculation unit calculating a correlation matrix of the input sound signal, and an eigenvector calculation unit calculating an eigenvalue of the correlation matrix using the calculated correlation matrix, wherein the eigenvector calculation unit calculates the eigenvector using the correlation matrix of the input sound signal and one or more predetermined correlation matrices.

Claims

1. A sound source localization apparatus, comprising:

a sound signal input unit inputting a sound signal and environmental noise;

a correlation matrix calculation unit configured to;

calculate a correlation matrix of the input sound signal,

focus or cancel the input sound signal using the calculated correlation matrix for the input sound signal; and

calculate a noise correlation matrix based on the environmental noise;

a rotation determining unit for determining a degree of rotation of the sound signal input unit;

an eigenvector calculation unit calculating an eigenvector of the correlation matrix using the calculated correlation matrix; and

a sound source localization unit configured to;

cancel the environmental noise using an inverse matrix of the noise correlation matrix; and

localize a sound source using an eigenvector and a generalized eigenvalue decomposition,

wherein the eigenvector calculation unit;

calculates the eigenvector using the correlation matrix of the input sound signal and one or more predetermined correlation matrices; and

transforms the correlation matrix based on the degree of rotation determined by the rotation determining unit; and

a decay parameter in the generalized eigenvalue decomposition of the eigenvector is changed based on a degree of speed recognition.

2. The sound source localization apparatus according to claim 1, wherein the eigenvector calculation unit includes a correction unit correcting a predetermined correlation matrix and changes the eigenvector of the predetermined correlation matrix.

3. The sound source localization apparatus according to claim 1, further comprising a microphone posture information storage unit storing microphone posture information indicating a microphone posture,

wherein the eigenvector calculation unit corrects the correlation matrix on the basis of the microphone posture information.

4. A sound source localization method, comprising:

a sound signal input step of inputting a sound signal and environmental noise using a sound signal input unit;

a correlation matrix calculation step of calculating a correlation matrix of the input sound signal, and focusing or canceling the input sound signal using the calculated correlation matrix for the input sound signal, and calculation a noise correlation matrix based on the environmental noise;

a rotation determining step of determining a degree of rotation of the sound signal input unit;

an eigenvector calculation step of calculating an eigenvector of the correlation matrix using the calculated correlation matrix; and

a sound source localization step of canceling the environmental noise using an inverse matrix of the noise correlation matrix, and localizing a sound source using a eigenvector and a generalized eigenvalue decomposition, wherein, in the eigenvector calculation step,

the eigenvector is calculated using the correlation matrix of the input sound signal and one or more predetermined correlation matrices, and the correlation matrix is transformed based on the degree of rotation determined in the rotation determining step; and

changing a decay parameter in the generalized eigenvalue decomposition of the eigenvector based on a degree of speech recognition.