Sound localization for human interaction in real environment

Sammanfattning: For a robot to succeed at speech recognition, it is advantageous to have a strong and clear signal tointerpret. To facilitate this the robot can steer and aim for the sound source to get a clearer signal, todo this a sound source localization system is required. If the robot turns towards the speaker thisalso gives a more natural feeling when a human interacts with the robot. To determine where thesound source is positioned, an angle relative to the microphone pair is calculated using theinteraural time difference (ITD), which is the difference in time of arrival of the sound between thepair of microphones. To achieve good result the microphone signals needs to be preprocessed andthere are also different algorithms for calculating the time difference which are investigated in thisthesis. The results presented in this work are from tests, with an emphasis on focusing at real-timesystems, involving noisy environment and response time. The results show the complexity of thebalance between computational time and precision.