Graph-SLAM based calibration of an embedded asynchronous microphone array for outdoor robotic target tracking
- Publication Type:
- Conference Proceeding
- Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2015, pp. 641 - 648
- Issue Date:
© 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents a strategy for sound source localisation using an embedded asynchronous microphone array for robotic target tracking application. Conventional microphone array technologies require a multi-channel A/D converter for inter-microphone synchronization making the technology relatively expensive. In our method, a synchronization free embedded asynchronous microphone array has released this requirement. The microphone array needs self calibration using graph-based SLAM method, which estimates starting time offset and clock difference/drift rate of each microphone channel using Gauss-Newton least square optimization. The proposed method is suitable for target tracking applications.
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