Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array

Yoko Sasaki; Saori Masunaga; Simon Thompson; Satoshi Kagami; Hiroshi Mizoguchi

doi:10.20965/jrm.2007.p0281

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JRM Vol.19 No.3 pp. 281-289

doi: 10.20965/jrm.2007.p0281

(2007)

Paper:

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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)

Received:

October 24, 2006

Accepted:

April 12, 2007

Published:

June 20, 2007

Keywords:

microphone array, sound localization and separation, tele-operated mobile robot

Abstract

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.

Cite this article as:

Y. Sasaki, S. Masunaga, S. Thompson, S. Kagami, and H. Mizoguchi, “Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array,” J. Robot. Mechatron., Vol.19 No.3, pp. 281-289, 2007.

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References

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[2] S. Maeyama, S. Yuta, and A. Harada, “Mobile robots in art museum for remote appreciation via internet,” In Proc. of 2002 International Conference on Intelligent Robots and Systems Workshop WS9 “Robots in Exhibitions,” pp. 23-28, 2002.
[3] Y. Matsusaka, T. Tojo, S. Kubota, K. Furukawa, D. Tamiya, S. Fujie, and T. Kobayashi, “Multi-person conversation via multi-modal interface –a robot who communicate with multi-user–,” In Proc. of Euro speech 99, pp. 1723-1726, Budapest, Hungary, September 1999.
[4] K. Nakadai, H. Nakajima, M. Murase, S. Kaijiri, K. Yamada, T. Nakamura, Y. Hasegawa, H. G. Okuno, and H. Tsujino, “Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays,” In Proc. of International Conference on Acoustics, Speech, and Signal Processing 2006, pp. 929-932, Toulouse, France, May 2006.
[5] D. H. Johnson and D. E. Dugeon, “Array Signal Processing: Concepts and Techniques,” Prentice Hall PTR, 1993.
[6] M. Aoki, M. Okamoto, S. Aoki, H. Matsui, T. Sakurai, and Y. Kaneda, “Sound source segregation based on estimating incident angle of each frequency component of input signals acquired by multiple microphones,” Acoustical Science and Technology, Vol.22, No.2, pp. 149-157, 2001.
[7] G. Kitagawa, “Monte carlo filter and smoother for non-gaussian nonlinear state space models,” J. of Computational and Graphical Statistics, Vol.5, pp. 1-25, 1996.
[8] S. Thompson and S. Kagami, “Continuous curvature trajectory generation with obstacle avoidance for car-like robots,” In Proc. of International Conference on Computational Intelligence for Modelling Control and Automation (CIMCA2005), Vienna, November 2005.
[9] J. J. Kuffner, “Efficient optimal search of euclidean-cost grids and lattices,” In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.
[10] D. Labonte, F. Michaud, P. Boissy, H. Corriveau, R. Cloutier, and M. A. Roux, “A pilot study on teleoperated mobile robots in home environments,” In Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4466-4471, Beijing, China, October 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] METI R³ Research Group (Ed.), “R³ – Real-time Remote Robotics,” Nikkan Kogyo Newspaper Co. Ltd., 1996 (in Japanese).

[2] [2] S. Maeyama, S. Yuta, and A. Harada, “Mobile robots in art museum for remote appreciation via internet,” In Proc. of 2002 International Conference on Intelligent Robots and Systems Workshop WS9 “Robots in Exhibitions,” pp. 23-28, 2002.

[3] [3] Y. Matsusaka, T. Tojo, S. Kubota, K. Furukawa, D. Tamiya, S. Fujie, and T. Kobayashi, “Multi-person conversation via multi-modal interface –a robot who communicate with multi-user–,” In Proc. of Euro speech 99, pp. 1723-1726, Budapest, Hungary, September 1999.

[4] [4] K. Nakadai, H. Nakajima, M. Murase, S. Kaijiri, K. Yamada, T. Nakamura, Y. Hasegawa, H. G. Okuno, and H. Tsujino, “Robust tracking of multiple sound sources by spatial integration of room and robot microphone arrays,” In Proc. of International Conference on Acoustics, Speech, and Signal Processing 2006, pp. 929-932, Toulouse, France, May 2006.

[5] [5] D. H. Johnson and D. E. Dugeon, “Array Signal Processing: Concepts and Techniques,” Prentice Hall PTR, 1993.

[6] [6] M. Aoki, M. Okamoto, S. Aoki, H. Matsui, T. Sakurai, and Y. Kaneda, “Sound source segregation based on estimating incident angle of each frequency component of input signals acquired by multiple microphones,” Acoustical Science and Technology, Vol.22, No.2, pp. 149-157, 2001.

[7] [7] G. Kitagawa, “Monte carlo filter and smoother for non-gaussian nonlinear state space models,” J. of Computational and Graphical Statistics, Vol.5, pp. 1-25, 1996.

[8] [8] S. Thompson and S. Kagami, “Continuous curvature trajectory generation with obstacle avoidance for car-like robots,” In Proc. of International Conference on Computational Intelligence for Modelling Control and Automation (CIMCA2005), Vienna, November 2005.

[9] [9] J. J. Kuffner, “Efficient optimal search of euclidean-cost grids and lattices,” In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.

[10] [10] D. Labonte, F. Michaud, P. Boissy, H. Corriveau, R. Cloutier, and M. A. Roux, “A pilot study on teleoperated mobile robots in home environments,” In Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4466-4471, Beijing, China, October 2006.

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*,**

Yoko Sasaki^,, Saori Masunaga^,, Simon Thompson^,
Satoshi Kagami^*,,**, and Hiroshi Mizoguchi^*,**