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混响环境下基于倒谱BRIR的双耳互相关声源定位算法

张毅 颜博 王可佳

张毅, 颜博, 王可佳. 混响环境下基于倒谱BRIR的双耳互相关声源定位算法. 自动化学报, 2016, 42(10): 1562-1569. doi: 10.16383/j.aas.2016.c150828
引用本文: 张毅, 颜博, 王可佳. 混响环境下基于倒谱BRIR的双耳互相关声源定位算法. 自动化学报, 2016, 42(10): 1562-1569. doi: 10.16383/j.aas.2016.c150828
ZHANG Yi, YAN Bo, WANG Ke-Jia. Sound Source Localization Algorithm Based on Cepstral BRIR Binaural Cross-correlation in Reverberant Environment. ACTA AUTOMATICA SINICA, 2016, 42(10): 1562-1569. doi: 10.16383/j.aas.2016.c150828
Citation: ZHANG Yi, YAN Bo, WANG Ke-Jia. Sound Source Localization Algorithm Based on Cepstral BRIR Binaural Cross-correlation in Reverberant Environment. ACTA AUTOMATICA SINICA, 2016, 42(10): 1562-1569. doi: 10.16383/j.aas.2016.c150828

混响环境下基于倒谱BRIR的双耳互相关声源定位算法

doi: 10.16383/j.aas.2016.c150828
基金项目: 

重庆市科学技术委员会项目 cstc2015jcyjBX0066

详细信息
    作者简介:

    张毅 重庆邮电大学先进制造工程学院教授.主要研究方向为机器人及应用, 语音信号处理, 声源定位.E-mail:zhangyi@cqupt.edu.cn

    王可佳 重庆邮电大学自动化学院硕士研究生.主要研究方向为语音信号处理, 语音识别, 声纹识别.E-mail:qw.123woaini@foxmail.com

    通讯作者:

    颜博 重庆邮电大学自动化学院硕士研究生.主要研究方向为语音信号处理, 声源定位.本文通信作者.E-mail:yanbo19921102@sina.com

Sound Source Localization Algorithm Based on Cepstral BRIR Binaural Cross-correlation in Reverberant Environment

Funds: 

Chongqing Science and Technology Commission Project cstc2015jcyjBX0066

More Information
    Author Bio:

    Professor at the School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications. His research interest covers robot and its applications, speech signal processing, and sound source localization

    Master student at the School of Automation, Chongqing University of Posts and Telecommunications. Her research interest covers processing of speech signal, speech recognition, and voiceprint recognition

    Corresponding author: YAN Bo Master student at the School of Automation, Chongqing University of Posts and Telecommunications. Her research interest covers speech signal processing and sound source localization. Corresponding author of this paper
  • 摘要: 在实际封闭环境中,针对存在混响而导致声源定位性能下降的问题,提出一种基于倒谱双耳房间脉冲响应(Binaural room impulse response,BRIR)的双耳互相关声源定位方法.该方法通过从倒谱BRIR中减去混响分量,然后反变换到时域得到估计的脉冲响应,再与数据库中的头部脉冲响应(Head related impulse response,HRIR)进行互相关运算,最大互相关值相对应的位置就是所估计的声源位置.仿真实验结果表明,提出的算法能减少混响环境中带来的定位误差,提高声源定位的精度.
  • 图  1  RT=0 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位

    Fig.  1  Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0 s

    图  2  RT=0.30 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位

    Fig.  2  Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.30 s

    图  3  RT=0.50 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位

    Fig.  3  Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.50 s

    图  4  RT=0.70 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位

    Fig.  4  Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.70 s

    图  5  RT=0.90 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位

    Fig.  5  Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.90 s

    图  6  方位角为${{15}^{{}^\circ }}$不同混响时间下的RMSE比较

    Fig.  6  RMSE comparison of azimuth for ${{15}^{{}^\circ }}$ in different reverberation time

    图  7  实验环境示意图

    Fig.  7  Schematic diagram of experimental environment

    表  1  在不同混响时间下三种定位方法的声源方位估计

    Table  1  Sound source azimuth estimation of three location methods in different reverberation time

    实际角度(°) 0 10 15 20 30 35
    CEP-BRIR-CC
    声源定位法
    RT=0s 估计角度(°) 0.08 10.24 15.06 20.23 30.15 35.23
    绝对误差(°) 0.08 0.24 0.06 0.23 0.15 0.23
    RT=0.3s 估计角度(°) 0.17 9.03 14.82 21.09 30.25 36.39
    绝对误差(°) 0.17 0.97 1.18 1.09 0.25 1.39
    RT=0.5s 估计角度(°) -0.29 8.79 13.67 18.69 30.69 36.87
    绝对误差(°) 0.29 1.21 1.33 1.31 0.69 1.87
    CEP-GCC-ITD
    声源定位法
    RT=0s 估计角度(°) -0.08 10.67 15.92 20.86 30.42 35.37
    绝对误差(°) 0.08 0.67 0.92 0.86 0.42 0.37
    RT=0.3s 估计角度(°) 0.39 8.11 12.81 17.23 28.85 33.14
    绝对误差(°) 0.39 1.89 2.19 2.77 1.14 1.86
    RT=0.5s 估计角度(°) -1.69 7.06 11.91 16.14 28.15 32.06
    绝对误差(°) 1.69 2.94 3.09 3.86 1.85 2.94
    CEP-CC-ITD
    声源定位法
    RT=0s 估计角度(°) 0.07 10.73 15.95 21.46 30.85 35.62
    绝对误差(°) 0.07 0.73 0.95 1.46 0.85 0.62
    RT=0.3 s 估计角度(°) 0.63 8.68 12.78 23.06 27.62 32.97
    绝对误差(°) 0.63 1.32 2.22 3.06 2.38 2.03
    RT=0.5s 估计角度(°) -2.06 6.12 11.66 15.89 26.85 38.77
    绝对误差(°) 2.06 3.88 3.34 4.11 3.15 3.77
    下载: 导出CSV

    表  2  三种定位方法的统计结果

    Table  2  The statistical results of three localization methods

    角度
    方法
    —60° —15° 30° 45°
    估计值 误差 估计值 误差 估计值 误差 估计值 误差 估计值 误差
    CEP-BRIR-CC —54.8° 5.2° —19.6° 4.6° —3° 35.2° 5.2° 41.1° 3.9°
    CEP-GCC-ITD —67.6° 7.6° —22.3° 7.3° 7.5° 7.5° 36.9° 6.9° 52.8° 7.8°
    CEP-CC-ITD —50.9° 9.1° —23.5° 8.5° 8.8° 8.8° 22.0° 8.0° 54.2° 9.2°
    下载: 导出CSV
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  • 收稿日期:  2015-12-09
  • 录用日期:  2016-05-17
  • 刊出日期:  2016-10-01

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