第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

Lateral viewUltrasonic receiverson the gridUltrasonic tag7m3mPosition Y (m)4.03.5P23.02.5P32.01.51.00.500 1 2 3 4 5Position X (m)6 71210864201m1mFigure 5: Localization of Two Simultaneous Speech SignalsPlan viewFigure 4: Layout of Ultrasonic Sensors4m 3 1.2 m 0.7 m ¾ Ñ Æ2 È , É, Ê 27, 15, 8 Å 3,240 4 (GENELEC 1029A) 2 (A,B) 4 3 P1, P2, P3 150 Ñ Ñ ½ ¡¡¡Å P2 P3 270 Æ 180 Æ(1,0) 0 Æ 2 A 3 P1 180 Æ 3 À Ô ¼ Ò P1 P2 P3 (3) À Ô ¼ Ò 20 ms 4.1 (UTDTS) [16] UTDTS UTDTS GPS 4 UTDTS 28 3 1–8cm 6–13cm 4.2 1 5 6 % 1 kHz [3] 1 kHz 6a), b), c) 7a), b) UTDTS 2 80