A Sound Source Tracking System Based on Robot Hearing and Vision

摘要

A novel sound source tracking system was proposed in this paper. The system is composed of a robot which has a microphone array corresponding to humanpsilas ears and 2-CCD cameras corresponding to humanpsilas eyes. The robot can realize sound source localization by hearing, and then judge the source whether it is our target or not by vision. If it is our target, the robot can track it using vision module. The system is computationally efficient and physically compact, thus suitable for mobile robots. The method is proved accurate and efficient enough for real-time operation.