Method and device for tracking sound source

Abstract

The invention discloses a method and device for tracking a sound source.The method for tracking the sound source comprises the steps that S1, a sound source target is detected, and the detecting frequency of the sound source target at the moment tk and the last prediction time duration are acquired; S2, whether the sound source target is a real target or not is judged according to the detecting frequency and the last prediction time duration; S3, if the sound source target is the real target, the position information prediction value of the sound source target at the moment tk is output.According to the method and device for tracking the sound source in the embodiment, a position information detecting value and the position information prediction value at the same moment are subjected to data correlation, whether the sound source target is the real target or not can be accurately judged, therefore, interference and missing detection caused by noise, sound transmission complexity and other factors are effectively eliminated, the sound source target can be continuously and stably tracked, the accuracy and stability of a robot sound source locating system are improved, and then man-machine interaction experience is improved.

Description

technical field [0001] The present invention relates to the technical field of sound source localization, in particular to a sound source tracking method and device. Background technique [0002] For robots, the ability to locate and track sound source targets is a very necessary function. This function allows the robot to know the current location of the user who is making the sound, and locate the sounding place of the event of interest. On the one hand, it can provide auditory perception support for the robot's next behavior; on the other hand, it can also provide enhanced capabilities for far-field speech recognition. [0003] At present, in order to realize sound source localization, the target position is obtained mainly through a microphone array and a beamforming method. However, due to the complexity of sound signal propagation in space, the position of the sound source target cannot be obtained continuously, and there may be interruptions; in addition, when multi...

AI Technical Summary

Problems solved by technology

However, due to the complexity of sound signal propagation in space, the position of the sound source target cannot be obtained continuously, and there may be interruptions; in addition, when multiple targets are detected that are relatively close or cross, the real sound The detection of source and target produces interference, which reduces the success rate of sound source and target position detection, resulting in a decline in human-computer interaction experience

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