Mobile Robot and Sound Source Position Estimation System
AssigneeHitachi, Ltd.
InventorsTakashi SUMIYOSHI, Yasunari OBUCHI, Naoyuki KANDA, Ryu TAKEDA
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Abstract
The present invention pertains to a method for estimating a sound source position in a space with high accuracy using a microphone installed on a robot moving in the space. A mobile robot includes a self-position estimation unit configure to estimate the self-position of the mobile robot, a sound source information obtaining unit configured to obtain direction information of an observed sound source, and a sound source position estimation unit configured to estimate the position of the sound source based on the estimated self-position and the direction information of the sound source.
Claims16
A mobile robot comprising:
- a self-position estimation unit configured to estimate a self-position of the mobile robot;
- a sound source information obtaining unit configured to obtain direction information of an observed sound source;
- and
- a sound source position estimation unit configured to estimate a position of the sound source from the estimated self-position and the direction information of the sound source.
A sound source position estimation system comprising:
- a mobile robot;
- and
- a program operating on a terminal,
- wherein, the mobile robot includes:
- a self-position estimation unit configured to estimate a self-position of the mobile robot;
- a sound source information obtaining unit configured to obtain direction information of an observed sound source;
- a sound source position estimation unit configured to estimate a position of the sound source from the estimated self-position and the direction information of the sound source;
- and
- a sound source information sending unit configured to send the estimated position of the sound source, and
- wherein, the program operating on the terminal causes the terminal display the position of the sound source with map data.
Dependencies are inferred from the claim text.