Robust tracking of moving sound source using multiple model Kalman filter |
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Authors: | Zhiwei Liang Xudong Ma Xianzhong Dai |
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Affiliation: | School of Automation, Southeast University, Nanjing, Jiangsu Province, China |
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Abstract: | In this paper a novel method for tracking an active speaker in a noisy and reverberant environment by means of a spatially distributed microphone array is presented. Firstly, a sound source localization algorithm based on time delays of arrival (TDOA) in microphone pairs provides observed position estimates. Then these remarkably noisy estimates are filtered by a multiple model Kalman filter (MMKF) in order to obtain a smoothed trajectory of the speaker’s movement. Compared with the traditional Kalman filter (KF), simulated results prove the MMKF is more robust and effective in noisy environments. |
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Keywords: | Multiple model Kalman filter Time delay of arrival Sound source localization Microphone array |
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