We have developed a time-variant beamforming method that can extract sound signals from moving sound sources. It is difficult to recognize moving sound sources due to their amplitude and frequency distortions caused by the fact that the sources themselves are moving. Using our proposed method, the amplitude and frequency distortions of moving sound sources are precisely equalized so that these sound signals can be extracted. Numerical experiments showed that using our method improves moving sound source extraction. Extracting such sounds is important for successful natural human-robot interaction in a real environment because a robot has to recognize various types of sounds and sound sources.
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