声源定位技术定位出外界声源相对于机器人的方向和位置,机器人听觉声源定位系统可以极大地提高机器人与外界交互的能力.总结和分析面向机器人听觉的声源定位技术对智能机器人技术的发展有着重要的意义.首先总结了面向机器人听觉的声源定位系统的特点,综述了机器人听觉声源定位的关键技术,包括到达时间差、可控波束形成、高分辨率谱估计、双耳听觉、主动听觉和视听融合技术.其次对麦克风阵列模型进行了分类,比较了基于三维麦克风阵列、二维麦克风阵列和双耳的7个典型系统的性能.最后总结了机器人听觉声源定位系统的应用,并分析了存在的问题和未来的发展趋势.%The technology of sound source localization can localize the direction and position of a sound source relative to a robot. Sound source localization system for robot audition can greatly improve the ability of a robot to interact with external conditions. The summary and analysis of sound source localization for robot audition can significantly promote the development of intelligent robots. In this work, first, the characteristics of sound source localization for robot audition were summarized. The key technologies were summarized, including the time delay of arrival, steered beamforming, high resolution spectral estimation, binaural, active audition, and audio-visual. Then, the models of a microphone array were classified, and the performances of seven typical systems based on a 3-D microphone array, 2-D microphone array, and binaural were compared. Finally, the applications of a sound source localization system of robot audition were summarized. Several issues that sound source localization systems face as well as development trends were analyzed.
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