Sound-Source Localization System for Robotics and Industrial Automatic Control Systems Based on Neural Network

In this paper we described a horizontal sound-source localization (SSL) system which can be applied in mobile robots and industrial automatic systems. A novel approach of applying artificial neural network was proposed to obtain the horizontal direction angle (azimuth) of the sound source. According to humanoid characteristic only two microphones, which were attached symmetrically on both sides of the robot as its two ears, were utilized and tested. Sound wave signals were received from both microphones and analyzed directly by neural network. Two sets of training data were collected and used to train neural network, according to which, different performances of the SSL system were verified and compared. The strong recognizing and calculating ability of neural network made the system work effectively and accurately.

[1]  Yong Rui,et al.  Sound source localization for circular arrays of directional microphones , 2005, Proceedings. (ICASSP '05). IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005..

[2]  Stefan Wermter,et al.  Bioinspired Auditory Sound Localisation for Improving the Signal to Noise Ratio of Socially Interactive Robots , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Eeva Klintfors,et al.  Directional Hearing in a Humanoid Robot , 2009 .

[4]  Martin T. Hagan,et al.  Neural network design , 1995 .

[5]  Claude Sammut,et al.  Real time robot audition system incorporating both 3D sound source localisation and voice characterisation , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[6]  Munsang Kim,et al.  Speaker localization among multi-faces in noisy environment by audio-visual integration , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[7]  Yoshifumi Nishida,et al.  Home robot service by ceiling ultrasonic locator and microphone array , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[8]  Zhengyou Zhang,et al.  Maximum Likelihood Sound Source Localization for Multiple Directional Microphones , 2007, 2007 IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP '07.

[9]  Hiroaki Kitano,et al.  Applying scattering theory to robot audition system: robust sound source localization and extraction , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[10]  Masataka Goto,et al.  Real-time sound source localization and separation system and its application to automatic speech recognition , 2001, INTERSPEECH.

[11]  S. Kagami,et al.  Real-time 2 dimensional sound source localization by 128-channel huge microphone array , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[12]  Toshiharu Mukai,et al.  3D sound source localization system based on learning of binaural hearing , 2005, 2005 IEEE International Conference on Systems, Man and Cybernetics.