Patent ID: 8416642

Claim:
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: IcTF FB ⁡ ( f k ) = G FB ⁡ ( f k ) G BB ⁡ ( f k ) =  IcTF ⁡ ( f k )  ⁢ ⅇ j · phase ⁡ ( f k ) where G FB (f k ) denotes a cross power density function between the signals of the first and second channels, and G BB (f k ) denotes a power spectral density function of the signal of the second channel.