基于Kinect传感器的移动机器人声源目标跟踪系统

Target tracking system of mobile robot based on Kinect sensor

近些年声源跟踪技术得到广泛的应用,方法越来越多,精度也越来越高。随着服务机器人的发展,声源跟踪技术成为了服务机器人的一项基本技能。系统采用微软推出的Kinect传感器捕捉并处理声音信息,将Kinect与机器人相结合,实现对声源目标的先定位、后跟踪功能。本文在Visual Studio2010环境下驱动Kinect完成了对声音信号的采集和分析。经实验验证,本系统能实现对声源目标的定位和跟踪功能。

In recent few years, sound source localization and tracking technology has been widely used in various fields. More and more positioning methods are used for localization, what's more, positioning accuracy is becoming increasingly high. With the development of service robots, sound source localization and tracking technology has become one of the basics functions of service robots. This system uses Kinect sensor released by Microsoft to realize the audio information capturing and processing, which combines Kinect and mobile robot together to achieve the positioning and tracking of acoustic target.In this paper, Microsoft Kinect is drived to achieve the collection and the analysis of sound source by using Visual Studio 2010, At last, experiments showed that the system can achieve the required function.