Abstract
Scene analysis positioning method can effectively solve the problem of high model dependence in mobile robot auditory localization, and location fingerprint database is the foundation of scene analysis method. However, for precise location by fingerprint positioning, mass reference points are always needed. A sound source localization method based on virtual reference points is proposed to meet the drawback of positioning accuracy on account of low density fingerprint, without taking up the database storage space nor increasing the matching computation. Simulation and experimental results show that the novel method can effectively reduce the number of location reference points for location accuracy needed. Compared with the conventional auditory localization method, method based on virtual reference points has better efficiency in sound source target positioning, and significantly enhance the applicability of the robot auditory system.
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