Sound source tracking system, method and robot

摘要

A result of a sound source direction measurement based on an output of an REMA (first microphone array) (11) and a result of a sound source position measurement based on an output of an IRMA (second microphone array) (12) are integrated through a particle filter or in space. Thus, the different microphones, i.e., the REMA (11) and the IRMA (12) can cancel mutual defects or ambiguities with each other. Therefore, from views of improvement in accuracy and robustness a performance of sound source localization can be improved.