SYSTEMS AND METHOD FOR GENERATING INTERCHANNEL TIME DELAY MAP FOR SOUND SOURCE DETECTION SYSTEM SENSOR WITH CHANGED POSITION

摘要

Systems for generating a time delay map, according to the present invention, are respectively installed on left and right sides of a robot platform, and comprise: a sound source direction detection sensor; a saving portion for saving a head-related transfer function of each microphone; a detection portion for detecting the position of the sound source direction detection sensor; and a control portion for calculating a coordinate transformation coefficient from the position after changing to the position before changing the sound source direction detection sensor, reverse-estimating the position of a virtual sound source which corresponds to the position before the position of the sound source direction detection sensor is changed, generating a head-related transfer function appropriate for the sound source direction detection sensor with the changed position by applying the position of the reverse-estimated sound source to head-related transfer functions that are saved, and generating the time delay map on the basis of the head-related transfer functions which are generated.