Sound localization with side information for robot navigation.
Published: 2004
Language: eng
Number of pages: 75
Description: The first part of this thesis proposes an application of the microphone-array-based sound localization technique, known as SRP-PRAT, for navigating an acoustic mobile robot, called Trilobot. Experiments show that the average localization error of Trilobot is 7 cm close to the array and 30 cm far away from the array.The second part of the thesis introduces a new sound localization technique for mobile robots, known as Sound Localization with Side Information  or simply SLSI. The advantage of the proposed technique over SRP-PRAT is that it uses prior knowledge of the words spoken by the robot. SLSI is also tested on Trilobot. The experiments show that SLSI outperforms SRP-PHAT. The reduction of the sound localization anomalies, that SLSI is able to achieve, is in the order of 20% and 25% for SNRs bigger than 2dB using a mechanical speaker and 10% at SNR equal to 10dB using Trilobot.
Notes: Adviser:  Parham Aarabi.

Thesis (M.A.Sc.)--University of Toronto, 2004.

Electronic version licensed for access by U. of T. users.

Source: Masters Abstracts International, Volume: 43-03, page: 0934.

MICR copy on microfiche (1 microfiche).