Journal
IEEE SENSORS JOURNAL
Volume 18, Issue 11, Pages 4570-4582Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2018.2825879
Keywords
Acoustic sensing; ego-noise reduction; micro aerial vehicle; microphone array; source localization
Funding
- ARTEMIS-JU
- U.K. Technology Strategy Board (Innovate U.K.) through the COPCAMS Project [332913]
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We propose a time-frequency processing method that localizes and enhances a target sound by exploiting spectral and spatial characteristics of the ego-noise captured by a microphone array mounted on a multi-rotor micro aerial vehicle. We first exploit the time-frequency sparsity of the acoustic signal to estimate at each individual time-frequency bin the local direction of arrival (DOA) of the sound and formulate spatial filters pointing at a set of candidate directions. Then, we combine a kurtosis measure based on the spatial filtering outputs and a histogram measure based on the local DOA estimation to calculate a spatial likelihood function for source localization. Finally, we enhance the target sound by formulating a time-frequency spatial filter pointing at the estimated direction. As the ego-noise generally originates from specific directions, we propose a DOA-weighted spatial likelihood function that improves source localization performance by identifying noiseless sectors in the DOA circle. The DOA weighting scheme localizes the target sound even in extremely low signal-to-noise conditions when the target sound comes from a noiseless sector. We experimentally validate the performance of the proposed method with two array placements.
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