| 摘要 |
The present invention relates to a method for highly accurately estimating the position of a sound source that is present in a space, said position being estimated using a microphone mounted in a robot that moves in the space. This mobile robot is provided with: a self position estimation unit that estimates the self position of the mobile robot; a sound source information acquisition unit that acquires directional information of an observed sound source; and a sound source position estimation unit that estimates the position of the sound source on the basis of the estimated self position and the directional information of the sound source. |
