937 results about "Acoustic source localization" patented technology

An automatic speech recognition system includes: a sound source localization module for localizing a sound direction of a speaker based on the acoustic signals detected by the plurality of microphones; a sound source separation module for separating a speech signal of the speaker from the acoustic signals according to the sound direction; an acoustic model memory which stores direction-dependent acoustic models that are adjusted to a plurality of directions at intervals; an acoustic model composition module which composes an acoustic model adjusted to the sound direction, which is localized by the sound source localization module, based on the direction-dependent acoustic models, the acoustic model composition module storing the acoustic model in the acoustic model memory; and a speech recognition module which recognizes the features extracted by a feature extractor as character information using the acoustic model composed by the acoustic model composition module.

A method and system for enhancing a target sound signal from multiple sound signals is provided. An array of an arbitrary number of sound sensors positioned in an arbitrary configuration receives the sound signals from multiple disparate sources. The sound signals comprise the target sound signal from a target sound source, and ambient noise signals. A sound source localization unit, an adaptive beamforming unit, and a noise reduction unit are in operative communication with the array of sound sensors. The sound source localization unit estimates a spatial location of the target sound signal from the received sound signals. The adaptive beamforming unit performs adaptive beamforming by steering a directivity pattern of the array of sound sensors in a direction of the spatial location of the target sound signal, thereby enhancing the target sound signal and partially suppressing the ambient noise signals, which are further suppressed by the noise reduction unit.

A method of signal processing includes calculating a range based on information from a reflected ultrasonic signal. Based on the calculated range, one among a plurality of direction-of-arrival (DOA) estimation operations is selected. The method also includes performing the selected operation to calculate an estimated direction of arrival (DOA) of an audio-frequency component of a multichannel signal. Examples of DOA estimation operations include operations based on phase differences between channels of the multichannel signal and operations based on a difference in gain between signals that are based on channels of the multichannel signal.

A device for determining a reproduction position of a source of sound for audio-visual reproduction of a film scene from a plurality of individual pictures with regard to a reproduction surface having a predetermined width and a projection source having a projection reference point comprises means for providing a recording position of the source of sound, a camera position during recording, and an aperture angle of the camera during recording. In addition, provision is made of means for transforming the recording position of the source of sound to a camera coordinate system, the origin of which is defined, in relation to a camera aperture, to obtain a recording position of the source of sound in the camera coordinate system. Means for calculating the reproduction position of the source of sound in relation to the projection reference point determines whether the aperture angle of the camera equals a predetermined aperture angle, and whether or not a source of sound is located within the visual range of the camera. If the current aperture angle of the camera differs from the predetermined standard aperture angle, the reproduction position of the source of sound is spaced toward a viewer, or away from the viewer, by a distance which depends on the ratio of the standard aperture angle to the current aperture angle. Hereby, automatable sound-source positioning is achieved so as to provide not only a visually realistic, but also an acoustically realistic situation in a reproduction room using wave-field synthesis methods.

The present invention discloses a locating and tracking method based on a sound source array, comprising the following steps: S1, acquiring on-site sound through a quintuple microphone array, and pre-processing a sound signal acquired by each microphone in the quintuple microphone array to obtain an audio signal; S2, performing sound source locating for the audio signals according to arrival time delay of the audio signals between the microphones and positional information of the microphone array, so as to calculate a pitch angle, an azimuth angle and an object distance; and S3, moving and turning a locating and tracking apparatus to arrive to a sound source position. The locating and tracking method of the present invention performs related processing for influences of non-gauss noises, coherent noises and indoor reverberation of the sound source on accurate locating, thereby improving accuracy of locating of the sound source.

The invention discloses a microphone array sound source positioning method, device and system based on video tracking. The method comprises the steps that the time difference information of a number of microphones which acquire current speech in a microphone array is counted; according to the time difference information and the position information of a number of microphones, the approximate position information of a current sound source is acquired; according to the approximate position information, sound source tracking control of the first time is carried out on a camera, so as to carry out video acquiring and human face detection; and according to a human face detection result, sound source tracking control of the second time is carried out on the camera, so that a human face image of a current spokesman is placed at an intermediate position of a current video image. According to the invention, when a user uses a television conference system, without manual control on the camera, the camera can automatically carry out accurate video positioning and tracking on the spokesman; and due to the fact that human face identification is combined, the accuracy of sound source positioning can be further improved.

A method for positioning the location of sound source is disclosed that includes steps: the receiving device receives the sound signal generated by the sound source; provisional estimates the time difference of said sound signals reaching the receiving device; provisional estimates the receiving device separately receives the energy ratio of said sound signals; ascertains the location of the sound source by the time difference and the energy ratio. The method of double micro sound localization is compared to people's double ears position mechanism; the position is located by the sound energy and the time-delay information simultaneously, it can reach the aim of reducing the number of matrix element, and doesn't need to send and receive the type-specific reference signal.

The invention discloses a robot continuous sound source positioning method which comprises the following steps of: (1) acquiring a sound source signal by adopting a microphone array consisting of at least two pairs of microphones, converting the signal into a digital signal and storing the signal by a robot; and (2) carrying out effective audio signal detection on the acquired signal and carrying out sound source positioning operation on the signal containing effective audio frequency to obtain the position of a sound source relative to the robot. The method disclosed by the invention can divide the frequency domain signal obtained after Fourier transformation as for different application scenes and the frequency characteristic and noise characteristic of the sound source when the method is applied into a sound source positioning system of the robot and the calculating capability of the robot is limited, and thereby, the positioning operation time of the robot is greatly reduced, and the positioning speed is high. Meanwhile, as for the characteristic of movement of the robot, after the displacement angle is subjected to motion modification, the accuracy and instantaneity of positioning are greatly improved.

The invention is suitable for the technical field of sound processing and provides a sound source locating method and device. The method comprises the steps of: collecting sound source signals by utilizing a microphone array and preprocessing the sound source signals collected by any two microphones; confirming a cross-power spectral density function of the two sound source signals; confirming a weighting function adjusted along with the variation of the present signal to noise ratio; confirming a sequence of values of the cross-correlation function of the two sound source signals according to the cross-power spectral density function and the weighting function; confirming the time delay of the sound source singles to two microphones according to the maximum value of the cross-correlation function; and locating the sound source positions according to the permutation distribution of the microphone array and the time delay of the sound source signals to the any two microphones. According to the method and the device, the adopted weighting function can be correspondingly adjusted along with the variation of the present signal to noise ratio to ensure that under the environment that the signal to noise ratio of a sound source is changed, the time delay of the sound source can be accurately obtained through correspondingly adjusting the weighting function, and therefore, the sound source locating accuracy is improved.

A sound source localization method of a three-dimensional space adopts a movable small microphone array and a sound source localization technology based on time delay estimation. The small microphone array is used for collecting a period of target sound source signals, a mutual correlation algorithm is used for calculating time differences between the microphones of the small microphone array, the time differences are substituted into computational formulas of azimuth and elevation to get the azimuth and the elevation of the target sound source, and then the small microphone array is moved for some distance along a certain azimuth, and the operations are repeated to get the azimuth and the elevation of the target sound source at the moment. Through measuring the azimuth and the elevation of the target sound source twice, the distance of the target sound source is calculated. The method of measuring target sound source is a passive method. The small microphone array is moved during the measuring process, and the defects that accuracy of the sound source target distance measuring of the prior art is low, and cost is high and safety is not ensured due to the fact that an active method is adopted to measure the sound source target distance are overcome.

Indicating a spatial location of a virtual sound source by determining an output for each of one or more physical speakers as a function of an orientation of corresponding virtual speakers that track the position and orientation of a virtual listener relative to the virtual sound source in a virtual environment or game simulation. A vector distance between the virtual sound source and each virtual speaker is used to determine a volume level for each corresponding physical speaker. Each virtual speaker is specified at a fixed location on a unit sphere centered on the virtual listener, and the virtual sound source is normalized to a virtual position on the unit sphere. All computations are performed in Cartesian coordinates. Preferably, each virtual speaker vector distance is used in a nonlinear function to compute a volume attenuation factor for the corresponding physical speaker output.

The invention discloses a sound source positioning system and method used for distributed microphone arrays. The system comprises a signal energy ratio calculating module A, a database establishment module, a GMM training module, a signal energy ratio calculating module B and a sound source coordinate calculating module, wherein the output end of the signal energy ratio calculating module A is connected with the input end of the database establishment module, the output end of the database establishment module is connected with the input end of the GMM training module, the output end of the GMM training module is connected with the input end of the sound source coordinate calculating module, the output end of the signal energy ratio calculating module B is also connected with the input end of the sound source coordinate calculating module, and the output end of the sound source coordinate calculating module outputs sound source coordinates. According to the method, due to the fact that a microphone is adopted to receive signal energy to serve as main parameters, the method is only relevant to the distance between the microphone and a sound source, therefore, geometrical structures and size information of the arrays do not need to be considered, and factors such as delay time, stationarity, broadband or narrowband of transmission of sound signals do not need to be considered, either.

Disclosed is a technique for localizing a sound source. In the technique, a sound pressure signal measured by microphones is acquired using a spherical microphone array sensor where the microphones are fixedly arranged on a surface of a spherical body. A sound pressure distribution on the surface of the spherical body is obtained by a controller from a sound pressure calculation formula for calculating a sound pressure at a certain location of a spherical surface using the sound pressure signal measured by the microphones as an input value. A location of the sound source is estimated from the obtained sound pressure distribution.

The invention relates to a sound source positioning system and a sound source positioning method. The sound source positioning system comprises microphones and calculating units, wherein, each microphone respectively senses a target sound source so as to output time domain signals. The calculating units respectively transform all the time domain signals into frequency domain signals and carry out intersectant frequency spectrum calculus according to each frequency domain signal so as to obtain the time differences of arrival and determine the position of the target sound source according to each time difference of arrival and the position of each microphone.

An apparatus and method for localizing a sound source in a robot are provided. The apparatus includes a microphone unit implemented by one or more microphones, which picks up a sound from a three-dimensional space. The apparatus also includes a sound source localizer for determining a position of the sound source in accordance with Time-Difference of Arrivals (TDOAs) and a highest power of the sound picked up by the microphone unit. Thus, the robot can rapidly and accurately localize the sound source in the three-dimensional space with minimum dead space, using a minimum number of microphones.

The invention discloses an auditory perception and intelligent decision making system of an unmanned vehicle. The auditory perception and intelligent decision making system includes an auditory perception system and an intelligent decision making system; the auditory perception system includes a sound source positioning system and a sound identification system. The sound source positioning system positions the location and relative direction of a sound emitting source and transmits positioning results to the sound identification system and the intelligent decision making system; the sound identification system classifies and identifies sound source positioning information and transmits results to the intelligent decision making system; the information acquisition module of the intelligent decision making system receives sound information transmitted by the sound source positioning system and the sound identification system; an information processing and decision making module analyzes and processes the sound information and calculates lane changing and avoidance schemes of the unmanned vehicle; and a control execution module controls the behaviors of the unmanned vehicle and makes effective response.

The invention provides a method for positioning a sound source by using a microphone array. Three microphones are arranged in an equilateral triangle. The method comprises the following steps of: establishing a coordinate system, wherein an origin point of the coordinate system is coincided with the center of gravity of the equilateral triangle, and a first microphone is positioned in a longitudinal axis of the coordinate system; connecting the center of gravity of the equilateral triangle with three vertexes of the equilateral triangle, extending, and dividing an entire circumference into six equal intervals; calculating time differences between the sound source and the first microphone, between the sound source and the second microphone, and between the sound source and the third microphone; multiplying the time differences by a sound velocity to obtain a first distance difference between a distance from the sound source to the second microphone and a distance from the sound source to the first microphone and a second distance difference between a distance from the sound source to the third microphone and a distance from the sound source to the first microphone; preliminarily determining the interval in which the sound source falls relative to an azimuth angle phi of the center of gravity of the equilateral triangle according to symbols of the first distance difference and the second distance difference and comparison of absolute values of the first distance difference and the second distance difference; and approximating the distance R from the sound source to the center of gravity of the equilateral triangle and the azimuth angle phi to optimization points by a 0.618 method.

The present invention discloses a control method of robot sound source positioning and awakening identification and a control system of robot sound source positioning and awakening identification. The method comprises the following steps of using an array microphone to detect a sound source continuously, and obtaining a sound signal; matching the detected sound signal and a pre-stored off-line voice command into an awakening instruction; sending the awakening instruction to a robot head MCU, and awakening the head MCU; using the head MCU to awaken a main controller, and sending a sound source direction signal to the main controller; after the main controller sends out the instruction to the head MCU, turning a robot head to a sound source direction, and waiting for other instructions. According to the present invention, the direction identification and the voice awakening are combined together, so that the man-machine interaction can be improved very well, the main controller can be in a standby state as much as possible, the power consumption is saved, and the use time is prolonged.

The invention discloses an intelligent robot rotation method based on sound source positioning and face detection. The method comprises the steps of (1) receiving a wake-up word and starting, (2) determining the general direction of a target person by using a multi-microphone sound source positioning technology, and controlling the head of a robot to a target direction, (3) turning a head camera to the direction of the target person to apply face positioning technology, and collecting an image through the head camera, (4) after collecting the image through the head camera, carrying out more precise positioning based on the face detection technology, and finally turning the head of the robot to point at the direction of a target speaker. According to the method, the positioning accuracy can be improved, and the personified effect of the interaction between a user and the robot is improved greatly.

Systems and methods are provided for source localization and separation by sampling a large scale microphone array asynchronously to simulate a smaller size but moving microphone array. Signals that arrive from different angles at the array are shifted differently in their frequency content. The sources are separated by evaluating correlated and even equal frequency content. Compressive sampling enables the utilization of extremely large scale microphone arrays by reducing the computational effort orders of magnitude in comparison to standard synchronous sampling approaches. Processor based systems to perform the source separation methods are also provided.

The invention relates to a pick-up method and system based on a microphone array; the method comprises the steps of 1, using the microphone array to pick up and output one of multiple speech signals for speech activation detection, and judging whether a speech activation signal occurs or not; if yes, executing step 2; if not, repeating the step 1; 2, performing sound source positioning on the multiple speech signals to obtain a sound source positioning direction; 3, subjecting the speech signal of the sound source positioning direction to speech augmentation to obtain an augmented speech signal; 4, subjecting the augmented speech signal to speech wakeup detection, and judging whether speech wakeup is detected or not; if yes, executing step 5; if not, repeating the step 1; 5, allowing the microphone array to pick up and output the multiple speech signals; 6, processing the multiple speech signals as one signal that is output finally as picked speech. Speech signals can be better picked up in far field environment, particularly accurately in high-noise environment, and an excellent solution is provided for remote speech control.

A system and method for acoustic source location using a horizontal and vertical microphone array. Tilt sensors are provided within each array to allow full determination of the tilt of each array. Based on the acoustic source location results, an image capture device may be maneuvered to focus in the direction of the acoustic source location.

Provided is a method for canceling background noise of a sound source other than a target direction sound source in order to realize highly accurate speech recognition, and a system using the same. In terms of directional characteristics of a microphone array, due to a capability of approximating a power distribution of each angle of each of possible various sound source directions by use of a sum of coefficient multiples of a base form angle power distribution of a target sound source measured beforehand by base form angle by using a base form sound, and power distribution of a non-directional background sound by base form, only a component of the target sound source direction is extracted at a noise suppression part. In addition, when the target sound source direction is unknown, at a sound source localization part, a distribution for minimizing the approximate residual is selected from base form angle power distributions of various sound source directions to assume a target sound source direction. Further, maximum likelihood estimation is executed by using voice data of the component of the sound source direction passed through these processes, and a voice model obtained by predetermined modeling of the voice data, and speech recognition is carried out based on an obtained assumption value.

A system for locating an acoustic source from an acoustic event of the acoustic source. In one embodiment, the system includes a sensor network having a plurality of spatially separated sensor nodes each located in a predetermined position encountering acoustic waves generated by an acoustic event passing proximate to the plurality of spatially separated sensor nodes, where the plurality of spatially separated sensor nodes are synchronized to a common time base such that when the acoustic event is detected, information of the acoustic waves from each of the plurality of spatially separated sensor nodes is obtained and broadcasted through the sensor network. The system further includes a base station for receiving information of the acoustic waves broadcasted from the sensor network and processing the received information of the acoustic waves so as to locate the acoustic source of the acoustic event.

A system for directionally selective sound reception comprises an array of pressure sensors each arranged to output a pressure signal indicative of pressure, and processing means arranged to receive the pressure signals, identify a plurality of frequency components of the signals, identify at least one source direction, and identify at least one of the components as coming from the source direction. The sensor array comprises support means having two opposite sides and four sensors, at least one of the sensors being supported on each of the sides of the support means.

The present invention discloses a microphone sound recording control method, a sound source positioning method, a digital audio signal processing method and a corresponding device thereof. The invention is used for increasing the sound recording effect of digital device. The microphone sound recording control method provided by the invention comprises the following steps: obtaining the distance from the target sound source to the microphone array in the sound recording process of microphone array; and adjusting the included angle two microphones in the microphone array. The sound source positioning method provided by the invention comprises the following steps: obtaining the distance from the target sound source to the microphone array in the sound recording process of microphone array; confirming the sound pick-up angle of microphone array according to the obtained distance; respectively confirming the maximum crosscorrelation values of audio signals received by two microphones in the microphone array; and confirming the sounding probability of target sound source according to the ratio between the maximum crosscorrelation value confirmed in the range of sound pick-up angle and the maximum crosscorrelation value confirmed outside the range of sound pick-up angle.

The invention discloses a multi-sound-source locating method based on a spherical microphone array, and the method comprises the following steps of firstly conducting spherical harmonics decomposition for high-order sound fields collected by a spherical microphone array, and building a noise-contained sound source signal model received by a spherical harmonics domain array; then expressing a covariance matrix of data received by the array; classifying the covariance matrix according to a subspace decomposition method to obtain two mutually-orthogonal signal subspace and noise subspace; utilizing the orthogonality of the signal subspace and the noise subspace to define a guide vector of the signal subspace, and extracting one characteristic vector of the noise subspace to build a space azimuth spectrum; and finally searching a spectrum peak position of an azimuth spectrum function, and determining a space azimuth of a sound source. The method utilizes a three-dimensional space rotary symmetric structure of the spherical microphone array to adequately sample the sound field, so that the operation quantity is remarkably reduced through the high-resolution spectrum estimation and dimensional-reduced noise subspace, the sound source azimuth is accurately estimated, and the method can be widely applied to the fields such as a voice signal processing field.

An apparatus for positioning a screen sound source, a method of generating loudspeaker set information for screen sound source positioning, and a method of reproducing a positioned screen sound source are provided. The apparatus and methods relate to a screen sound source positioning technique. A plurality of loudspeakers, each configured to have approximately the same gain, are each disposed proximate to the edge of a display, and a loudspeaker set including at least two of the loudspeakers is selected to position a virtual sound source substantially synchronized with a visual object displayed at a position on the screen of the display. Accordingly, a virtual sound source may be positioned at a certain specific position on the screen of a display without sound source distortion.