Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)–PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.