Sound source localization using phase spectrum
First Claim
1. A process for sound source localization with a plurality of pairs of microphones with known spatial relationship, comprising:
- receiving signals from the plurality of pairs of microphones into a memory as a plurality of frames;
processing each frame of the signals from the plurality of pairs of microphones to identify when the received signals are active in the frame;
computing frequency spectrum data for each frame of the received signals;
for each pair of active signals in a frame, determining a candidate angle of sound arrival on the plurality of pairs of microphones using the frequency spectrum data; and
selecting, for a current frame, an angle of sound arrival on the plurality of pairs of microphone from among the candidate angles determined for the current frame, by;
tracking a history of candidate angles determined for multiple frames;
updating the history based on the candidate angles determined for the current frame; and
selecting, as the angle for the current frame, an angle from the history having a phase distortion less than or equal to a minimum phase distortion of the candidate angles and similar to a highest ranked candidate angle determined for the current frame.
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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.
21 Citations
20 Claims
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1. A process for sound source localization with a plurality of pairs of microphones with known spatial relationship, comprising:
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receiving signals from the plurality of pairs of microphones into a memory as a plurality of frames; processing each frame of the signals from the plurality of pairs of microphones to identify when the received signals are active in the frame; computing frequency spectrum data for each frame of the received signals; for each pair of active signals in a frame, determining a candidate angle of sound arrival on the plurality of pairs of microphones using the frequency spectrum data; and selecting, for a current frame, an angle of sound arrival on the plurality of pairs of microphone from among the candidate angles determined for the current frame, by; tracking a history of candidate angles determined for multiple frames; updating the history based on the candidate angles determined for the current frame; and selecting, as the angle for the current frame, an angle from the history having a phase distortion less than or equal to a minimum phase distortion of the candidate angles and similar to a highest ranked candidate angle determined for the current frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. 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 as a plurality of frames; a processing unit configured to process each frame of the received signals from the plurality of pairs of microphones to identify when the received signals are active in the frame and to compute frequency spectrum data for each frame of the received signals; wherein the processing unit is further configured to, for each pair of active signals in a frame, determine a candidate angle of sound arrival on the plurality of pairs of microphones using the frequency spectrum data, and to select, for a current frame, an angle of sound arrival on the plurality of pairs of microphones from among the candidate angles determined for the current frame, by; tracking a history of candidate angles determined for multiple frames; updating the history based on the candidate angles determined for the current frame; and selecting, as the angle for the current frame, an angle from the history having a phase distortion less than or equal to a minimum phase distortion of the candidate angles and similar to a highest ranked candidate angle determined for the current frame. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification