第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

SCOT(Smoothed Coherence Transform)PHAT(Phaseτs= d sinθs/ c (3) Transform)[4]d: : s SCOT−θ sin 1ψs( ω)= 1/ Φ11(ω)Φ22( ω) (9)s= ( cτs/ d) (4) Φ11( ω)Φ22( ω)x ( t 1)x ( t 2) TDE(Time Delay Estimation)[3]Φ12( ω)jτ = ∫ω tR12 ( )e dω(10)Φ11(ω)Φ22( ω)(a) φ12( τ )γ12( ω)Φ12( ω)γ12( ω)= (11)φ12 ( τ ) = ∫ x1(t)x2( t + τ ) dt (5)Φ11(ω)Φ22( ω)(1)(2)φ12 ( τ ) = ∫ s(t)s(t −τs+ τ ) dt = φss( τ −τs) (6) SN SN ) φ ss(τ s(t)SN φss ( τ ) = ∫ s(t)s(t + τ ) dt (7) s(t)φ ss(τ )τ = 0 PHATφ12 ( τ ) = φss( τ −τs)ψp( ω)= 1/ Φ12 ( ω) (12)τ = τ 0Φ12( ω)jφ12 ( τ )τ = ∫ ω tR12 ( )e dω (13)Φ12( ω)φ12 ( τ ) τ s (b) (generalized correlation) [4][5]CSP[6]SN SN R12 ( τ ) [4][7]jR τ = ∫ψω Φ ω eω t12( ) ( )12( ) dω (8) [7]) Φ12 ( ω φ12 ( τ )x 1(t )x ( t)2 (8)φ12 ( τ ) (c) s Φ12 ( ω) ψ (ω )s(t)s( t −τs) Φ12( ω)− jψ (ω) sΦsse ωτ12( ω)= Φ ( ω) (14) Φss(ω) s(t)SN Φ12 ( ω) ϕ(ω)ϕ ( ω)= ωτ s(15)s - 2 -