Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array
Yoko Sasaki*,**, Saori Masunaga**,***, Simon Thompson**,
Satoshi Kagami*,**,****, and Hiroshi Mizoguchi*,**
*Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba, Japan
**Digital Human Research Center, National Institute of Advanced Science and Technology, 2-41-6 Aomi, Kouto-ku, Tokyo 135-0064, Japan
***Graduation School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan
****CREST Program, Japan Science and Technology Corporation (JST)
The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operated mobile robot in order to improve both the presentation of sound sources to the operator and also to facilitate autonomous robot actions. The auditory system is based on a 32-channel distributed microphone array that uses highly efficient directional design for localizing and separating multiple moving sound sources. Experimental results demonstrate the feasibility of inter-person distant communication through the tele-operated robot system.
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