The paper presents a study on improving the auditory system of humanoid robots. It emphasizes on the direction of arrival (DoA) estimation method used in microphone array processing. The conventional methods assume that the array is fixed, which is not the case in a moving robot. This can lead to significant errors. The paper presents a signal model that takes the robot’s motion into account. Two methods are proposed – one compensates for the robot’s motion, the other enhances the performance for periodic signals using the motion. The study shows that these methods can almost eliminate motion-related errors and improve the DoA estimation performance.
Publication date: 4 Jan 2024
Project Page: https://arxiv.org/abs/2401.02386v1
Paper: https://arxiv.org/pdf/2401.02386
