第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学
第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学
第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
RFFront Mic)(RightRRRight Mic)(RightLFFront Mic)(LeftLLLeft Mic)(Left17.8 cm20.0 cm5.1 cm7.6 cm3.8 cm9.6 cm(Figure 2)17.4 cm2.3 (a) Front view(b) Side viewFigure 1: Setting of microphones h i DFT X i (w, t) w t X i (w, t) RF X RF (w, t) LL-Mic/ RF-MicN i (w, t) =|X i(w, t)||X RF (w, t)|(i = LL, RR, LF )LF-Mic1 / RF-MicRR-MicLeft/ RF-Mic(-60deg)Front(0deg)Right(60deg)Y i (w) = 1 T∑N i (w, t) (t =1, ···,T)tFigure 2: Example of Ratios of Amplitude Spectra2.2 X(ω) G(ω) S(ω) ω |X LL (ω)| = |G LL (ω)|·|S(ω)||X RR (ω)| = |G RR (ω)|·|S(ω)||X LF (ω)| = |G LF (ω)|·|S(ω)||X RF (ω)| = |G RF (ω)|·|S(ω)|X RF (ω) |X LL (ω)||X RF (ω)| = |G LL(ω)||G RF (ω)||X RR (ω)||X RF (ω)| = |G RR(ω)||G RF (ω)||X LF (ω)||X RF (ω)| = |G LF (ω)||G RF (ω)| S(ω) Y i (w) L C c i (l) =W (w; l) =∑hiw=loW (w; l) · log N i (w) (l =1, ···,L){ w−wlo (l)w c(l)−w lo (l)w hi (l)−ww hi (l)−w c(l){w lo (l) ≤ w ≤ w c (l)}{w c (l) ≤ w ≤ w hi (l)}w lo (l)w c (l)w hi (l) l C 3 × L 2.4 2.3 90