HRI-JP HOME > Research > Publications > SLAMに基づく非同期分散マイクロホンアレイのキャリブレーションの評価
December 2011
SLAMに基づく非同期分散マイクロホンアレイのキャリブレーションの評価
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Copyright (C) 2011 JSAI / JSAI Transactions Online http://www.jstage.jst.go.jp/browse/tjsai/ 本著作物の著作権は（社）人工知能学会に帰属します。本著作物は著作権者である人工知能学会の許可のもとに掲載するものです。 - Miura_2011_882 (1.24KB)
- 三浦弘樹, 吉田尚水, 中村圭佑, 中臺一博,
- in 人工知能学会 第34回 AI-Challenge 研究会,
- 人工知能学会,
- 2011,
- Conference paper
This paper evaluates an online calibration method for asynchronous microphone arrays. Conventional microphone array techniques require a lot of measurements of transfer functions to calibrate microphone locations, and a multi-channel A/D converter for intermicrophone synchronization. To solve these two problems, we proposed an online framework combining Simultaneous Localization and Mapping (SLAM) and beamforming and an implemented prototype system using an Extended Kalman Filter (EKF) showed the feasibility of the proposed framework in a simulated and a real environment. In this paper, we show the robustness of the proposed framework for different motion models, motion and observation errors to apply to real microphone array systems through numerical experiments.
