Subject: Re: [AUDITORY] angular resolution of microphones' matrices From: hgo <okuno@xxxxxxxx> Date: Wed, 24 Jan 2018 18:12:25 +0900 List-Archive:<http://lists.mcgill.ca/scripts/wa.exe?LIST=AUDITORY>--001a114574ce03bb9c05638211a7 Content-Type: text/plain; charset="UTF-8" Content-Transfer-Encoding: quoted-printable Dear Dr. Jan Felcyn, You may try the robot audition open source software called "HARK". http://www.hark.jp/ HARK is developed as an audio-equivalent to OpenCV. It supports any kind of microphone array configuration, and provides sound source localization (2 algorithms), sound source separation (12 algorithms), and interface to automatic speech recognition (Julius and Kaldi). HARK has been downloaded more than 120 K times. Ubuntu and Windows versions are available. Some papers include: K. Nakadai et al, "Kazuhiro Nakadai, Toru Takahashi, Hiroshi G. Okuno, Hirofumi Nakajima, Yuji Hasegawa, Hiroshi Tsujino: Design and Implementation of Robot Audition System "HARK". *Advanced Robotics*, Vol.24, No.5-6 (2010) 739-761, doi:10.1163/016918610X493561 <http://dx.doi.org/10.1163/016918610X493561> <http://dx.doi.org/10.1163/016918610X493561> Hiroshi G. Okuno, Kazuhiro Nakadai: ROBOT AUDITION: ITS RISE AND PERSPECTIVES, *Proceedings of 2015 International Conference on Acoustics, Speech and Signal Processing (ICASSP 2015)*, pp.5610-5614, SS-L3.1, Brisbane, Australia, April 19-24 (22), 2015. doi:10.1109/ICASSP.2015.7179045 <http://dx.doi.org/10.1109/ICASSP.2015.7179045> <http://dx.doi.org/10.1109/ICASSP.2015.7179045> Kazuhiro Nakadai, Hiroshi G. Okuno, Takeshi Mizumoto. Development, Deployment and Applications of Robot Audition Open Source Software HARK. *Journal of Robotics and Mechatronics*, Vol.27, No.1 (Feb. 2017), pp.16-25. doi:10.20965/jrm.2017.p0016 <http://dx.doi.org/10.20965/jrm.2017.p0016> I organized a special issue on robot audition technologies at Journal of Robotics and Mechatronics, Vol.29, No.f (Feb. 2017). https://www.fujipress.jp/jrm/rb/ Some papers cover human-robot interactions, musical robots, sound processing for a hose-shaped rescue robot, microphone array processing for UAV, bird singing scene analysis, and frog chorusing.analysis, Enjoy, - Gitchang - Hiroshi "Gitchang" Okuno Professor, Waseda Unviersity Professor Emeritus, Kyoto University http://www.aoni.waseda.jp/okuno/ 2018-01-23 23:42 GMT+09:00 Jan Felcyn <janaku@xxxxxxxx>: > Dear Auditory List, > > In the upcoming future I begin a project focused on creating a small > driver aimed to control home devices. It will be voice-controlled, hence = a > small microphone matrix have to be implemented in it. I=E2=80=99ve made s= ome > preliminary research in the topic of matrices, but I haven=E2=80=99t foun= d an > answer to my most important question: is there any equation or, let=E2=80= =99s say, > =E2=80=98simple law=E2=80=99, which let estimate angular resolution (both= horizontally and > vertically) of the matrix regarding number of microphones and geometry > between them? Maybe you can advise me something or just point out papers > and research which I should analyze? And what about programming it > effectively using real-time processing? I will probably use MEMS > microphones, maybe this information helps you somehow. I will really > appreciate your help. > > Best regards from Poland, > Jan Felcyn, Institute of Acoustics, Adam Mickiewicz University, Pozna=C5= =84, > Poland > --001a114574ce03bb9c05638211a7 Content-Type: text/html; charset="UTF-8" Content-Transfer-Encoding: quoted-printable <div dir=3D"ltr"><div>Dear Dr. Jan Felcyn,</div><div><br></div><div>You may= try the robot audition open source software called "HARK".</div>= <div><a href=3D"http://www.hark.jp/" target=3D"_blank">http://www.hark.jp/<= /a></div><div>HARK is developed as an audio-equivalent to OpenCV.</div><div= >It supports any kind of microphone array configuration, and</div><div>prov= ides sound source localization (2 algorithms), sound source separation</div= ><div>(12 algorithms), and interface to automatic speech recognition (Juliu= s and</div><div>Kaldi).=C2=A0 HARK has been downloaded more than 120 K time= s.=C2=A0 Ubuntu and</div><div>Windows versions are available.</div><div><br= ></div><div>Some papers include:</div><div><br></div><div>K. Nakadai et al,= "Kazuhiro Nakadai, Toru Takahashi, Hiroshi G. Okuno, Hirofumi Nakajim= a, Yuji Hasegawa, Hiroshi Tsujino: <br></div><div>Design and Implementation= of Robot Audition System "HARK". <i><br></i></div><div><i>Advanced Robotics</i>, Vol.24, No.5-6 (2010) 739-7= 61, <a href=3D"http://dx.doi.org/10.1163/016918610X493561" target=3D"_blank">do= i:10.1163/016918610X493561</a></div><div><a href=3D"http://dx.doi.org/10.11= 63/016918610X493561" target=3D"_blank"><br></a></div><div> Hiroshi G. Okuno, Kazuhiro Nakadai: <br></div><div>ROBOT AUDITION: ITS RISE= AND PERSPECTIVES, <br></div><div> <i>Proceedings of 2015 International Conference on Acoustics, Speech and Signal Processing (ICASSP 2015)</i>, pp.5610-5614, SS-L3.1,=20 Brisbane, Australia, April 19-24 (22), 2015.=20 <a href=3D"http://dx.doi.org/10.1109/ICASSP.2015.7179045">doi:10.1109/ICASS= P.2015.7179045</a></div><div><a href=3D"http://dx.doi.org/10.1109/ICASSP.20= 15.7179045"><br></a></div><div>Kazuhiro Nakadai, Hiroshi G. Okuno, Takeshi = Mizumoto.<br> Development, Deployment and Applications of Robot Audition Open Source Soft= ware HARK. <i><br></i></div><div><i>Journal of Robotics and Mechatronics</i>, Vol.27, No.1 (Feb. 2017), pp.16-25. </div><div><a href=3D"http://dx.doi.org/10.20965/jrm.2017.p0016">doi:10.209= 65/jrm.2017.p0016</a> </div><div><br></div><div></div><div>I organized a special issue on robot a= udition technologies at</div><div>Journal of Robotics and Mechatronics, Vol= .29, No.f (Feb. 2017).</div><div><br></div><div><a href=3D"https://www.fuji= press.jp/jrm/rb/" target=3D"_blank">https://www.fujipress.jp/jrm/<wbr>rb/</= a></div><div><br></div><div>Some papers cover human-robot interactions, mus= ical robots,</div><div>sound processing for a hose-shaped rescue robot, mic= rophone</div><div>array processing for UAV, bird singing scene analysis, an= d <br></div><div>frog chorusing.analysis, <br></div><div><br></div><div>Enj= oy,</div><div><br></div><div>- Gitchang -</div><div>Hiroshi "Gitchang&= quot; Okuno</div><div>Professor, Waseda Unviersity</div><div>Professor Emer= itus, Kyoto University</div><div><a href=3D"http://www.aoni.waseda.jp/okuno= /">http://www.aoni.waseda.jp/okuno/</a></div><div><br></div><div><br></div>= <div><br></div></div><div class=3D"gmail_extra"><br><div class=3D"gmail_quo= te">2018-01-23 23:42 GMT+09:00 Jan Felcyn <span dir=3D"ltr"><<a href=3D"= mailto:janaku@xxxxxxxx" target=3D"_blank">janaku@xxxxxxxx</a>></span= >:<br><blockquote class=3D"gmail_quote" style=3D"margin:0 0 0 .8ex;border-l= eft:1px #ccc solid;padding-left:1ex"> <div dir=3D"ltr"> <div dir=3D"ltr"> <div style=3D"FONT-SIZE:12pt;FONT-FAMILY:'Calibri';COLOR:#000000"> <div>Dear Auditory List,</div> <div>=C2=A0</div> <div>In the upcoming future I begin a project focused on creating a small d= river=20 aimed to control home devices. It will be voice-controlled, hence a small= =20 microphone matrix have to be implemented in it. I=E2=80=99ve made some prel= iminary=20 research in the topic of matrices, but I haven=E2=80=99t found an answer to= my most=20 important question: is there any equation or, let=E2=80=99s say, =E2=80=98s= imple law=E2=80=99, which let=20 estimate angular resolution (both horizontally and vertically) of the matri= x=20 regarding number of microphones and geometry between them? Maybe you can ad= vise=20 me something or just point out papers and research which I should analyze? = And=20 what about programming it effectively using real-time processing? I will=20 probably use MEMS microphones, maybe this information helps you somehow. I = will=20 really appreciate your help.</div> <div>=C2=A0</div> <div>Best regards from Poland,</div> <div>Jan Felcyn, Institute of Acoustics, Adam Mickiewicz University, Pozna= =C5=84,=20 Poland</div></div></div></div> </blockquote></div><br></div> --001a114574ce03bb9c05638211a7--