第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

Table 1: Localization Error of A Single Sound Source (m)Speaker Sound P1 P2 P3device Source Avg. S.D. Avg. S.D. Avg. S.D.Loudspeaker White noise 0.16 0.19 0.05 0.20 0.45 0.19Loudspeaker Recorded voice 0.15 0.71 0.40 0.39 1.80 1.80Human Mr. A 0.09 0.47 0.53 0.50 1.69 1.79Human Mr. B 0.04 0.57 0.36 0.53 1.52 1.64Table 2: Tracking Error of a MovingSound Source (white noise)ErrorAvg. S.D.Localization (m) 0.24 0.19Orientation (deg.) 9.8 94.3Power (%)10090Estimated (Mean)Speech @1kHz80Loudspeaker @1kHz7060504030201000 45 90 135 180 225 270 315 360Angle (deg.)a) White noise by a loudspeakerPower (%)10090Estimated (Mean)Speech @1kHz80Loudspeaker @1kHz7060504030201000 45 90 135 180 225 270 315 360Angle (deg.)b) Human voice played by a loudspeakerFigure 6: Directivity Pattern Estimation of Three Kinds of Sound SourcesPower (%)10090Estimated (Mean)Speech @1kHz80Loudspeaker @1kHz7060504030201000 45 90 135 180 225 270 315 360Angle (deg.)c) Real human voice of Mr.A4.3 20 – 60 cm P3 P1, P2 P3 7b) 2 20 cm 25 cm 2 9.8 Æ 90 Æ5 [2] WDS-BF MUSIC [19]6 64 81