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US 10,598,543 B1Granted
Multi microphone wall detection and location estimation
AssigneeAmazon Technologies, Inc.
InventorsMohamed Mansour, Srivatsan Kandadai, Stefan Vlaski
Life of this patent
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Abstract
A system that performs wall detection, range estimation, corner detection and/or angular estimation. The system may determine an aggregate impulse response (e.g., impulse response of all components in a room) and may perform a deconvolution to remove a system impulse response (e.g., impulse response associated with loudspeaker(s) and microphone(s)). Thus, the system may use a sparse deconvolution algorithm to estimate a room impulse response (e.g., determine acoustic characteristics of the room). The system may detect a peak in the room impulse response and determine a distance and/or direction to an acoustically reflective surface based on the peak.
Claims20
A computer-implemented method comprising:
- receiving, by a device located in a room, first audio data associated with audible sound output by a loudspeaker of the device;
- receiving, by the device, second audio data from a first microphone of the device, the second audio data including a first representation of the audible sound;
- receiving third audio data from a second microphone of the device, the third audio data including a second representation of the audible sound;
- determining first aggregate impulse response data associated with the first microphone;
- determining second aggregate impulse response data associated with the second microphone;
- determining, based on the first aggregate impulse response data, a first model that corresponds to at least a first probability density function, wherein the first model is subject to exponential decay;
- determining, based on the second aggregate impulse response data, a second model that corresponds to at least a second probability density function, wherein the second model is subject to exponential decay;
- determining, using the first model, first room impulse response data corresponding to the room and associated with the first microphone;
- determining, using the second model, second room impulse response data corresponding to the room and associated with the second microphone;
- determining a first nonzero value in the first room impulse response data, the first nonzero value corresponding to first reflected sound waves associated with the audible sound, the first reflected sound waves corresponding to a wall;
- determining a first time associated with the first nonzero value, the first time corresponding to the first microphone detecting the first reflected sound waves;
- determining a second nonzero value in the second room impulse response data, the second nonzero value corresponding to second reflected sound waves associated with the audible sound, the second reflected sound waves corresponding to the wall;
- determining a second time associated with the second nonzero value, the second time corresponding to the second microphone detecting the second reflected sound waves;
- determining, using at least one of the first time or the second time, a first distance from the device to the wall;
- and
- determining, based on a delay between the first time and the second time, a first direction associated with the wall.
13 more elements
A computer-implemented method comprising:
- receiving, by a device located in an environment, first audio data associated with audible sound output by a loudspeaker;
- receiving, by the device, second audio data associated with a first microphone, the second audio data including a representation of the audible sound;
- determining first aggregate impulse response data associated with the first microphone, the first aggregate impulse response data representing combined acoustic characteristics of the environment and the device;
- determining, based on the second audio data, first impulse response data for the environment, wherein the first impulse response data is determined based on the first aggregate impulse response data using a sparse deconvolution algorithm;
- determining a first nonzero value in the first impulse response data, the first nonzero value corresponding to a first time;
- determining a second nonzero value in the first impulse response data, the second nonzero value corresponding to a second time;
- and
- determining, based on a first difference between the first time and the second time, a first distance from the device to a first reflective surface in the environment.
5 more elements
A device comprising:
- at least one processor;
- and
- memory including instructions operable to be executed by the at least one processor to perform a set of actions to configure the device to:
- receive, by the device located in an environment, first audio data associated with audible sound output by a loudspeaker;
- receive, by the device, second audio data associated with a first microphone, the second audio data including a representation of the audible sound;
- determine first aggregate impulse response data associated with the first microphone, the first aggregate impulse response data representing combined acoustic characteristics of the environment and the device;
- determine, based on the second audio data, first impulse response data for the environment, wherein the first impulse response data is determined based on the first aggregate impulse response data using a sparse deconvolution algorithm;
- determine a first nonzero value in the first impulse response data, the first nonzero value corresponding to a first time;
- determine a second nonzero value in the first impulse response data, the second nonzero value corresponding to a second time;
- and
- determine, based on a first difference between the first time and the second time, a first distance from the device to a first reflective surface in the environment.
8 more elements
Dependencies are inferred from the claim text.