Prototyping Filter-Sum Beamformers for Sound Source Localization in Mobile Robotics


The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A rapid prototyping method is proposed to design filter-sum beamformers on the basis of convex optimization. This method is well-suited to robotics applications as it copes with real-time constraints and allows the localization of broadband signals such as human voice. Numerous simulation results are used to illustrate the reasoning.

in Proceedings of the 2005 IEEE International Conference on Robotics and Automation