Patent ID: 8416642
Filing Date: 2013-04-09
Classification: G01S

Abstract:
1. A signal processing apparatus for removing a reflected wave generated by a robot platform, comprising: a plurality of microphones having respective channels positioned on the robot platform; a transfer function measuring unit for measuring an inter-channel transfer function (IcTF) from sound signals of the plurality of channels; a time domain converting unit for converting the IcTF measured by the transfer function measuring unit into the time domain; an impulse response obtaining unit for obtaining an inter-channel impulse response (IcIR) from the IcTF converted by the time domain converting unit; and a reflected wave removing unit for removing the reflected wave by differentiating a direct wave directly generated by a sound source and the reflected wave with a time delay by performing windowing with respect to the IcIR obtained by the impulse response obtaining unit; wherein the IcTF is defined according to the formula: where G