Sound source localization using phase spectrum

摘要

An array of microphones placed on a mobile robot provides multiple channels of audio signals. A received set of audio signals is called an audio segment, which is divided into multiple frames. A phase analysis is performed on a frame of the signals from each pair of microphones. If both microphones are in an active state during the frame, a candidate angle is generated for each such pair of microphones. The result is a list of candidate angles for the frame. This list is processed to select a final candidate angle for the frame. The list of candidate angles is tracked over time to assist in the process of selecting the final candidate angle for an audio segment.

主权项

1. A computer-implemented process comprising:
receiving signals from a plurality of pairs of microphones into a memory; processing the signals from the microphones to identify when the signals are active; computing frequency spectrum data for the signals; for each pair of active signals:
determining a phase spectrum of a cross power spectrum using the frequency spectrum data of the pair of active signals,determining a phase distortion for the pair from the phase spectrum, andderiving a candidate angle from the determined phase distortion; and selecting an angle from among the candidate angles derived for the plurality of pairs of microphones.