第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

5.75 m4.33 mNoise1.15 mUser 40°2.151.15 mcm・Reverberation time : 200 msNumber of microphones : 4, 8Figure 6: 13.33 mReverberation time : 260 msNumber of microphones : 4, 8Figure 8: NBF 2.94 m1 mUser1 m 60°2.15 cmFigure 7: 2Noise (15) G(k) =d θN (k) H R(k) −1d θN (k) H R(k) −1 d θN (k)(15)Gain [dB]100-10-20-30-40-50-90-450Direction [degree] 45200090 0Figure 9: ABF 800060004000Frequency [Hz]R(k) 〈X(k, n)X(k, n) H 〉 t B (16)⎡exp[j2π k K f ⎤sd 1 sin(θ N )/c]d θN (k) ⎢⎥⎣.⎦ (17)exp[j2π k K f sd J sin(θ N )/c]R(k) d θN (k) θ N [2] B H 5 5.1 6 7 6 7 1 25.2 1: NBF ABF 3 8 9 NBF ABF 0 NBF 8 0 ABF 9 NBF 5.3 2: 6 7 NBF SSA ABF SSA DS GJ 6 7 SNR 10 dB β γ PTM[8](2000 64 ) [6] 33