反射を考慮した音源位置推定
Reflection-Aware Sound Source Localization
室内環境で直接音と反射音の経路を逆音響レイトレーシングで生成し、モンテカルロ位置推定により単一フレームの信号から3D音源位置を推定する手法を提案した。
著者: Inkyu An, Myungbae Son, Dinesh Manocha, Sung-eui Yoon
分類: cs.SD, cs.RO, eess.AS
原文アブストラクト
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the position instantaneously from signals within a single frame. We consider direct sound and indirect sound signals that reach the microphones after reflecting off surfaces such as ceilings or walls. We then generate and trace direct and reflected acoustic paths using inverse acoustic ray tracing and utilize these paths with Monte Carlo localization to estimate a 3D sound source position. We have implemented our method on a robot with a cube-shaped microphone array and tested it against different settings with continuous and intermittent sound signals with a stationary or a mobile source. Across different settings, our approach can localize the sound with an average distance error of 0.8m tested in a room of 7m by 7m area with 3m height, including a mobile and non-line-of-sight sound source. We also reveal that the modeling of indirect rays increases the localization accuracy by 40% compared to only using direct acoustic rays.
