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JRM Vol.29 No.1 pp. 154-167
doi: 10.20965/jrm.2017.p0154
(2017)

Paper:

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Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array

Kotaro Hoshiba*1, Osamu Sugiyama*2, Akihide Nagamine*3, Ryosuke Kojima*4, Makoto Kumon*5, and Kazuhiro Nakadai*1,*6

*1Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

*2Kyoto University Hospital
54 Kawaharacho, Shogoin, Sakyo-ku, Kyoto, Kyoto 606-8507, Japan

*3Department of Electrical and Electronic Engineering, School of Engineering, Tokyo Institute of Technology

*4Graduate School of Information Science and Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

*5Graduate School of Science and Technology, Kumamoto University
2-39-1 Kurokami, Chuo-ku, Kumamoto, Kumamoto 860-8555, Japan

*6Honda Research Institute Japan Co., Ltd.
8-1 Honcho, Wako, Saitama 351-0188, Japan

Received:
July 24, 2016
Accepted:
December 15, 2016
Published:
February 20, 2017
Creative Commons License
Keywords:
robot audition, sound source localization, multiple signal classification, actual environmental measurement, unmanned aerial vehicle
Abstract
We have studied on robot-audition-based sound source localization using a microphone array embedded on a UAV (unmanned aerial vehicle) to locate people who need assistance in a disaster-stricken area. A localization method with high robustness against noise and a small calculation cost have been proposed to solve a problem specific to the outdoor sound environment. In this paper, the proposed method is extended for practical use, a system based on the method is designed and implemented, and results of sound source localization conducted in the actual outdoor environment are shown. First, a 2.5-dimensional sound source localization method, which is a two-dimensional sound source localization plus distance estimation, is proposed. Then, the offline sound source localization system is structured using the proposed method, and the accuracy of the localization results is evaluated and discussed. As a result, the usability of the proposed extended method and newly developed three-dimensional visualization tool is confirmed, and a change in the detection accuracy for different types or distances of the sound source is found. Next, the sound source localization is conducted in real-time by extending the offline system to online to ensure that the detection performance of the offline system is kept in the online system. Moreover, the relationship between the parameters and detection accuracy is evaluated to localize only a target sound source. As a result, indices to determine an appropriate threshold are obtained and localization of a target sound source is realized at a designated accuracy.
Visualization of localization result

Visualization of localization result

Cite this article as:
K. Hoshiba, O. Sugiyama, A. Nagamine, R. Kojima, M. Kumon, and K. Nakadai, “Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array,” J. Robot. Mechatron., Vol.29 No.1, pp. 154-167, 2017.
Data files:
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Last updated on Apr. 22, 2024