Robust sound source localization using a Wiener filter

Abstract

Recently, human-robot interaction, or human-robot communication, has been extended to practical application in real environments. One of the important factors in human-robot interaction is sound source localization. Moreover, communication is more complex in sound-corrupted environments than in controlled environments. In the present study, the a priori SNR Wiener Scalart algorithm for noise reduction is utilized and integrated in a sound source localization system. The system is evaluated in the sound-corrupted context of a vacuum cleaning robot performing cleaning operations.