KR100754385B1 - 오디오/비디오 센서를 이용한 위치 파악, 추적 및 분리장치와 그 방법 - Google Patents
오디오/비디오 센서를 이용한 위치 파악, 추적 및 분리장치와 그 방법 Download PDFInfo
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- KR100754385B1 KR100754385B1 KR1020040078019A KR20040078019A KR100754385B1 KR 100754385 B1 KR100754385 B1 KR 100754385B1 KR 1020040078019 A KR1020040078019 A KR 1020040078019A KR 20040078019 A KR20040078019 A KR 20040078019A KR 100754385 B1 KR100754385 B1 KR 100754385B1
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- sound source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7864—T.V. type tracking systems
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- Radar, Positioning & Navigation (AREA)
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- Studio Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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- Circuit For Audible Band Transducer (AREA)
Abstract
Description
Claims (14)
- 소정 공간상에 음원들이 존재하는 환경에서,소정의 거리를 두고 위치한 다수의 마이크로폰 어레이를 통해 상기 음원들이 존재가능한 방향을 파악하는 오디오 센서;전방위 카메라를 통해 입력된 이미지를 검출 대상 물체들의 특징을 기초로 분석하여 상기 검출 대상 물체들이 존재가능한 방향을 파악하는 비디오 센서; 및상기 오디오 센서에 의해 파악된 상기 음원들이 존재 가능한 방향 및 상기 비디오 센서에 의해 파악된 상기 검출 대상 물체들이 존재 가능한 방향을 기초로 상기 검출 대상 물체들 중 음원으로 존재하는 검출 대상 물체의 위치를 파악하는 위치 파악부;를 포함하고,상기 마이크로폰은 모든 방향에 동일한 해상도를 가지는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 장치.
- 삭제
- 제 1항에 있어서,상기 비디오 센서는 상기 검출 대상 물체가 실제 사람인 경우 사람의 피부색 및 모양을 기초로 상기 입력된 이미지를 분석하여 상기 사람이 존재가능한 방향을 파악하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 장치.
- 제 1항에 있어서,상기 오디오 센서는 상기 음원들이 존재 가능한 방향에 대한 제1빔포머를 형성하고,상기 비디오 센서는 상기 검출 대상 물체들이 존재 가능한 방향에 대한 제2빔포머를 형성하며,상기 위치 파악부는 상기 제1빔포머 및 상기 제2빔포머를 곱하여 상기 검출 대상 물체들 중 음원으로 동작하는 검출 대상 물체를 파악하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 장치.
- 제 1항에 있어서,상기 위치 파악부에 의해 파악된, 음원으로 존재하는 검출 대상 물체들의 각각의 음원들을 분리하고, 상기 분리된 각각의 음원의 신호의 현재 및 이전 값들의 내적을 통해 상기 분리된 각각의 음원의 신호 세기를 스칼라 값으로 표현하는 음원 추적부; 및상기 스칼라 값으로 표현된 음원들의 신호 세기가 소정 임계치 이상이면 정상 신호로 파악하고 상기 임계치 미만이면 잡음으로 파악하는 목적음 추출부;를 더 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 장치.
- 제 5항에 있어서,상기 음원 추적부는 상기 음원으로 존재하는 검출 대상 물체들과의 위치관계가 변하지 않을 때는 순환 추정을 이용하여 상기 각각의 음원들을 분리하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리장치.
- 제 5항에 있어서,상기 음원 추적부는 상기 음원으로 존재하는 검출 대상 물체들과의 위치관계가 변하는 경우에 배이시안 필터링을 이용한 순환 추정을 이용하여 상기 각각의 음원들을 분리하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리장치.
- 제 5항에 있어서,상기 목적음 추출부에 의해 상기 각각의 음원들의 신호가 정상 신호 구간 및 잡음 구간으로 구분된 후 팽창(dilation) 및 침식(erosion)을 사용하여 필터링하는 신호 구간 검출부;를 더 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 장치.
- 소정 공간상에 음원들이 존재하는 환경에서 상기 음원들의 위치를 파악하는 방법에 있어서,소정의 거리를 두고 위치한 다수의 마이크로폰 어레이를 통해 상기 음원들이 존재가능한 방향을 파악하는 단계;전방위 카메라를 통해 입력된 이미지를 검출 대상 물체들의 특징을 기초로 분석하여 상기 검출 대상 물체들이 존재가능한 방향을 파악하는 단계; 및상기 파악된 음원들이 존재 가능한 방향 및 상기 파악된 검출 대상 물체들이 존재 가능한 방향을 기초로 상기 검출 대상 물체 중 음원으로 존재하는 검출 대상 물체의 위치를 파악하는 단계;를 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 방법.
- 제 9항에 있어서,상기 음원 방향 파악 단계는 상기 음원들이 존재 가능한 방향에 대한 제1빔포머를 형성하는 단계를 포함하고,상기 물체 방향 파악 단계는 상기 검출 대상 물체들이 존재 가능한 방향에 대한 제2빔포머를 형성하는 단계를 포함하고,상기 위치 파악 단계는 상기 제1빔포머 및 상기 제2빔포머를 곱하여 상기 검출 대상 물체들 중 음원으로 동작하는 물체를 파악하는 단계를 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 방법.
- 제 9항에 있어서,상기 위치 파악 단계에 의해 파악된 음원으로 존재하는 검출 대상 물체들의 각각의 음원들을 분리하고 상기 분리된 각각의 음원 신호의 현재 및 이전 값들의 내적을 통해 상기 분리된 각각의 음원 신호 세기를 스칼라 값으로 표현하는 단계; 및상기 스칼라 값으로 표현된 음원들의 신호 세기가 소정 임계치 이상이면 정상 신호로 파악하고 상기 임계치 미만이면 잡음으로 파악하는 단계;를 더 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 방법.
- 제 11항에 있어서,상기 스칼라 값으로 표현하는 단계는 상기 음원으로 존재하는 검출 대상 물체들과의 위치관계가 변하지 않을 때는 순환 추정을 이용하여 상기 각각의 음원들을 분리하는 단계를 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리방법.
- 제 11항에 있어서,상기 스칼라 값으로 표현하는 단계는 상기 음원으로 존재하는 검출 대상 물체들과의 위치관계가 변하는 경우에 배이시안 필터링을 이용한 순환 추정을 이용하여 상기 각각의 음원들을 분리하는 단계를 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리방법.
- 제 11항에 있어서,상기 신호 파악 단계에 의해 상기 각각의 음원들의 신호가 정상 신호 구간 및 잡음 구간으로 구분된 후 팽창(dilation) 및 침식(erosion)을 사용하여 필터링하는 단계;를 더 포함하는 것을 특징으로 하는 음원 위치 파악, 추적 및 분리 방법.
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KR1020040078019A KR100754385B1 (ko) | 2004-09-30 | 2004-09-30 | 오디오/비디오 센서를 이용한 위치 파악, 추적 및 분리장치와 그 방법 |
US10/998,984 US7536029B2 (en) | 2004-09-30 | 2004-11-30 | Apparatus and method performing audio-video sensor fusion for object localization, tracking, and separation |
DE602005018427T DE602005018427D1 (de) | 2004-09-30 | 2005-06-01 | Vorrichtung und Verfahren zur Fusionierung von Audio- und Videosensorinformationen zur Lokalisierung, Verfolgung und Trennung von Objekten |
EP05253372A EP1643769B1 (en) | 2004-09-30 | 2005-06-01 | Apparatus and method performing audio-video sensor fusion for object localization, tracking and separation |
JP2005286754A JP4986433B2 (ja) | 2004-09-30 | 2005-09-30 | 物体を認識および追跡する装置及び方法 |
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