Design and Assessment of Sound Source Localization System with a UAV-Embedded Microphone Array

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  • Hoshiba Kotaro
    Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology
  • Sugiyama Osamu
    Kyoto University Hospital
  • Nagamine Akihide
    Department of Electrical and Electronic Engineering, School of Engineering, Tokyo Institute of Technology
  • Kojima Ryosuke
    Graduate School of Information Science and Engineering, Tokyo Institute of Technology
  • Kumon Makoto
    Graduate School of Science and Technology, Kumamoto University
  • Nakadai Kazuhiro
    Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology Honda Research Institute Japan Co., Ltd.

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<p>We have studied on robot-audition-based sound source localization using a microphone array embedded on a UAV (unmanned aerial vehicle) to locate people who need assistance in a disaster-stricken area. A localization method with high robustness against noise and a small calculation cost have been proposed to solve a problem specific to the outdoor sound environment. In this paper, the proposed method is extended for practical use, a system based on the method is designed and implemented, and results of sound source localization conducted in the actual outdoor environment are shown. First, a 2.5-dimensional sound source localization method, which is a two-dimensional sound source localization plus distance estimation, is proposed. Then, the offline sound source localization system is structured using the proposed method, and the accuracy of the localization results is evaluated and discussed. As a result, the usability of the proposed extended method and newly developed three-dimensional visualization tool is confirmed, and a change in the detection accuracy for different types or distances of the sound source is found. Next, the sound source localization is conducted in real-time by extending the offline system to online to ensure that the detection performance of the offline system is kept in the online system. Moreover, the relationship between the parameters and detection accuracy is evaluated to localize only a target sound source. As a result, indices to determine an appropriate threshold are obtained and localization of a target sound source is realized at a designated accuracy.</p>

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