In this section
@inproceedings{Evers:2015:10.1109/ICDSP.2015.7252071,
author = {Evers, C and Moore, AH and Naylor, PA and Sheaffer, J and Rafaely, B},
doi = {10.1109/ICDSP.2015.7252071},
pages = {1206--1210},
publisher = {IEEE},
title = {Bearing-only acoustic tracking of moving speakers for robot audition},
url = {http://dx.doi.org/10.1109/ICDSP.2015.7252071},
year = {2015}
}
TY - CPAPER
AB - 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.
AU - Evers,C
AU - Moore,AH
AU - Naylor,PA
AU - Sheaffer,J
AU - Rafaely,B
DO - 10.1109/ICDSP.2015.7252071
EP - 1210
PB - IEEE
PY - 2015///
SN - 1546-1874
SP - 1206
TI - Bearing-only acoustic tracking of moving speakers for robot audition
UR - http://dx.doi.org/10.1109/ICDSP.2015.7252071
UR - http://hdl.handle.net/10044/1/38878
ER -
Speech and Audio Processing Lab
CSP Group, EEE Department
Imperial College London
Exhibition Road, London, SW7 2AZ, United Kingdom