耳介を持つバイノーラル聴覚ロボットの音源方向推定の検討 - 奥乃研究室

(,)(0 ◦ , −30 ◦ )(0 ◦ , 0 ◦ )(0 ◦ , 30 ◦ )(0 ⋆ , −45 ⋆ )(45 ◦ , 0 ◦ )(0 ◦ , 45 ◦ )Table 1: ()N F = 10 N F = 20, , ( (-2.1,-30.9) ) ( (0.0,-30.0) )29.9 13.2 0.0189 0.0077⋆ 31.82⋆ 0.0128( (-0.5,0.0) ) ( (0.0,0.0) )14.2 0.0013 0.0243 0.000⋆ 0.319⋆ 0.000( (-2.0,30.3) ) ( (0.0,30.0) )35.3 −8.38 0.198 −0.0047⋆ 19.0⋆ 0.0067((-29.6,-90.8)) ( (0.0,-50.1) )340 46411.9 18.2⋆ 962⋆ 31.7( (49.5,-0.2) ) ( (50.0,0.0) )24.5 10.60.315 0.184⋆ 46.0⋆ 0.374( (-4.0,42.0) ) ( (0.0,40.0) )35.2 −17.9 0.0887 0.0309⋆ 54.9⋆ 0.0907(,)(0 ◦ , −30 ◦ )(0 ◦ , 0 ◦ )(0 ◦ , 30 ◦ )(0 ⋆ , −45 ⋆ )(45 ◦ , 0 ◦ )(0 ◦ , 45 ◦ )Table 2: ()N F = 10 N F = 20, , ( (-16.6,-32.7) ) ( (-28.6,-25.5) )816 −143 719 −152⋆ 418⋆ 241( (-41.1,29.7) ) ( (-10.1,8.7) )687 −521 104 −85.5⋆ 1060⋆ 161( (-23.9,27.5) ) ( (0.8,30.0) )722 70.1126 5.11⋆ 121⋆ 6.09( (30.3,-53.5) ) ( (3.6,-46.9) )799 −121 752 −108⋆ 416⋆ 283( (46.1,0.5) ) ( (47.0,0.0) )39.8 −2.13 24.2 −0.636⋆ 23.0⋆ 2.66( (-5.8,44.1) ) ( (-3.9,47.2) )797 33.9531 20.9⋆ 149⋆ 49.5. , , [, 2008], ., , . ,2 , , .[, 2001] , ,, pp.69–74,2001.[Shimidt, 1986] Schmidt, R.O.: Multiple Emitter Locationand Signal Parameter Estimation, in IEEETrans. Antennas Propagation, Vol. AP-34 pp.276-280, 1986.[, 2010] , , S. Thompson, , : 64ch , SIG-Challenge , pp.3-8, 2010[Shaw, 1968] Shaw, E. A., and Teranishi, R.: Soundpressure generated in an external-ear replica andreal human ears by a nearby point source, Journal ofthe Acoustical Society of America, Vol 44-1, pp.240-249, 1968[Shimoda, 2006] T. Shimoda, T. Nakashima, M. Kumon,R. Kohzawa, I. Mizumoto and Z. Iwai: SpectralCues for Robust Sound Localization with Pinnae,in Proceedings of the 2006 IEEE/RSJ InternationalConference on Intelligent Robots and Systems,pp.386–391, 2006[Hornstein, 2006] Hörnstein, J., Lopes, M., Santos-Victor, J. and Lacerda, F.: Sound Localizationfor Humanoid Robots - Building Audio-Motor Mapsbased on the HRTF, in Proceedings of the 2006IEEE/RSJ International Conference on IntelligentRobots and Systems, pp.1170–1176, 2006.[Finger, 2010] Finger, H., Ruvolo, P., Liu, S.C., Movellan,J.:Approaches and Databases for Online Calibrationof Binaural Sound Localization for RoboticHeads, Proceedings of 2010 IEEE/RSJ InternationalConference on Intelligent Robots and Systems,pp.4340-4345, 2010.[, 2008] :, C , Vol.74-739, pp.642–649, 2008