Subject:
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Spatial sound localization
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 11 Nov 2008 20:18:12 GMT
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Highlighted:
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(details)
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10680 times
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Sound localization is an extremely exciting topic. While blur localization cues
that are based on level differences or precedence effect cues are easy to
implement into real robots, the localization of continuous signals based on time
difference of arrival cues are quite difficult. The task is very complex, if the
localization should be done in space instead of just two dimensions. Please
consult our site
http://www.convict.lu/htm/rob/spatial_sound_localizing_robot_xyztuvw.htm, if you
want to learn more about this particular subject. The page presents a LEGO
Mindstorms robot called Nic_3 that uses NXT and RCX bricks that are linked
through the HiTechnic IR-link module. The 3 DOFs robot samples 600 data-points
of a continous sound source on each channel of the stereo audio sensor. The
sampling frequency is 36kHz. Then it performs the cross-correlation and
determines the time-lag between both signals. Applying a novel algorithm
(Kneip/Baumann November 2008, Journal of the Acoustical Society of America), the
robot is able to localize a sound source in space with an average precision of
20° in azimuth and elevation.
Note that Nic_3 follows Nic_1, a 2D sound localizing robot and Nic_2, the
spatial sound localizing robot prototype being realized by Laurent Kneip
(www.laurentkneip.de) that has a better accuracy of 10° -Laurent will present
Nic_2 on his site soon.)
Also note that Nic_3 has already been used in a 2D-project before, which was
annonced here earlier (http://news.lugnet.com/robotics/?n=27562).
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