Algorithms and Architectures for Acoustic Localization Based on Microphone Array in Service Robotics

Abstract

This paper describes a n experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator i s detected via a microphone array based algorithm; localization information are passed t o a navigation module which sets up a navigation mission using knowledge of the environment map. T h e system has been developed using a distributed architecture with TCP/IP message passing. W e describe the hardware and software architectures, as well as the algorithms. Experimental results describing the sys tem performance in localization tasks are reported.

DOI: 10.1109/ROBOT.2000.846478

Cite this paper

@inproceedings{Mumolo2000AlgorithmsAA, title={Algorithms and Architectures for Acoustic Localization Based on Microphone Array in Service Robotics}, author={Enzo Mumolo and Massimiliano Nolich and Gianni Vercelli}, booktitle={ICRA}, year={2000} }