Bearing-only Acoustic Tracking of Moving Speakers for Robot Audition
C. Evers (Imperial College London), J. Sheaffer (Ben-Gurion University of the Negev), A. H. Moore (Imperial College London), B. Rafaely (Ben-Gurion University of the Negev), P. A. Naylor (Imperial College London)
IEEE Intl. Conf. on Digital Signal Processing (DSP), Singapore, July 21-24, 2015
[showhide type=”Abstract”]Abstract: This paper focuses on speaker tracking in robot audition for human-robot interaction. Using only acoustic signals, speaker tracking in enclosed spaces is subject to missing detections and spurious clutter measurements due to speech inactivity, reverberation and interference. Furthermore, many acoustic localization approaches estimate speaker direction, hence providing bearing-only measurements without range information. This paper presents a probability hypothesis density (PHD) tracker that augments the bearing-only speaker directions of arrival with a cloud of range hypotheses at speaker initiation and propagates the random variates through time. Furthermore, due to their formulation PHD filters explicitly model, and hence provide robustness against, clutter and missing detections. The approach is verified using experimental results. [/showhide]
©2015 IEEE.Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.