AN INTELLIGENT ROBOT FOR LOCALIZING SOUND SOURCE BY FREQUENCY-DOMAIN CHARACTERISTICS AND METHOD THEREOF

摘要

the present invention is a multi-channel sound board and a microphone mounted in the frequency domain characteristics of intelligent robots used by Mike to between about how to obtain a delay value and the location angle therefrom, intelligent robot is acquired sound source tracking is possible to acquire speech data from the channel source board and a microphone unit, in a frequency domain obtained from the micro-negative the GCC (Generalized Cross-Correlation) -PHAT (Phase Transform) processing to obtain the delay time based on the sound source-tracking method using a delay time value, calculating a number of track angle candidate from the delay between the microphones is estimated from the tracking angle in the reliability thereof track angle from the robot toward the caller processing, tracking angle to the robot comprises a driving part to rotate. That is, in the present invention as a performance measure of the FOV of the camera source tracking device (Field Of View), and using a tracking success and their average tracking error due to the range, the environment and the near and far echo having a noise environment or (5m or less) In the show the high performance sound track.