Sound Source Localization Algorithm Based on Cepstral BRIR Binaural Cross-correlation in Reverberant Environment
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摘要: 在实际封闭环境中，针对存在混响而导致声源定位性能下降的问题，提出一种基于倒谱双耳房间脉冲响应（Binaural room impulse response，BRIR）的双耳互相关声源定位方法.该方法通过从倒谱BRIR中减去混响分量，然后反变换到时域得到估计的脉冲响应，再与数据库中的头部脉冲响应（Head related impulse response，HRIR）进行互相关运算，最大互相关值相对应的位置就是所估计的声源位置.仿真实验结果表明，提出的算法能减少混响环境中带来的定位误差，提高声源定位的精度.Abstract: In an actual closed environment, for the presence of reverberation causes sound source localization performance degradation, a sound source localization algorithm based on a cepstral binaural room impulse response (BRIR) binaural cross-correlation is proposed. The method is based on subtracting the reverberation component from the BRIR, and the estimated time domain impulse response is derived from the cepstral BRIR inverse transformation. Then by performing cross-correlation operation with the database HRIR (head related impulse response), the maximum cross-correlation value corresponds to the position corresponding to the estimated location of the sound source. Simulation results show that the proposed algorithm can reduce positioning errors caused by reverberation environment, and improve sound localization accuracy.
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Key words:
- Sound source localization /
- binaural cross-correlation /
- cepstral /
- robustness
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图 1 RT=0 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位
Fig. 1 Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0 s
图 2 RT=0.30 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位
Fig. 2 Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.30 s
图 3 RT=0.50 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位
Fig. 3 Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.50 s
图 4 RT=0.70 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位
Fig. 4 Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.70 s
图 5 RT=0.90 s时, 三种算法对方位角${{15}^{{}^\circ }}$定位
Fig. 5 Three algorithms for positioning the azimuth ${{15}^{{}^\circ }}$ when RT=0.90 s
图 6 方位角为${{15}^{{}^\circ }}$不同混响时间下的RMSE比较
Fig. 6 RMSE comparison of azimuth for ${{15}^{{}^\circ }}$ in different reverberation time
表 1 在不同混响时间下三种定位方法的声源方位估计
Table 1 Sound source azimuth estimation of three location methods in different reverberation time
实际角度（°) 0 10 15 20 30 35 CEP-BRIR-CC
声源定位法RT=0s 估计角度（°) 0.08 10.24 15.06 20.23 30.15 35.23 绝对误差（°) 0.08 0.24 0.06 0.23 0.15 0.23 RT=0.3s 估计角度（°) 0.17 9.03 14.82 21.09 30.25 36.39 绝对误差（°) 0.17 0.97 1.18 1.09 0.25 1.39 RT=0.5s 估计角度（°) -0.29 8.79 13.67 18.69 30.69 36.87 绝对误差（°) 0.29 1.21 1.33 1.31 0.69 1.87 CEP-GCC-ITD
声源定位法RT=0s 估计角度（°) -0.08 10.67 15.92 20.86 30.42 35.37 绝对误差（°) 0.08 0.67 0.92 0.86 0.42 0.37 RT=0.3s 估计角度（°) 0.39 8.11 12.81 17.23 28.85 33.14 绝对误差（°) 0.39 1.89 2.19 2.77 1.14 1.86 RT=0.5s 估计角度（°) -1.69 7.06 11.91 16.14 28.15 32.06 绝对误差（°) 1.69 2.94 3.09 3.86 1.85 2.94 CEP-CC-ITD
声源定位法RT=0s 估计角度（°) 0.07 10.73 15.95 21.46 30.85 35.62 绝对误差（°) 0.07 0.73 0.95 1.46 0.85 0.62 RT=0.3 s 估计角度（°) 0.63 8.68 12.78 23.06 27.62 32.97 绝对误差（°) 0.63 1.32 2.22 3.06 2.38 2.03 RT=0.5s 估计角度（°) -2.06 6.12 11.66 15.89 26.85 38.77 绝对误差（°) 2.06 3.88 3.34 4.11 3.15 3.77 
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表 2 三种定位方法的统计结果
Table 2 The statistical results of three localization methods
角度
方法—60° —15° 0° 30° 45° 估计值 误差 估计值 误差 估计值 误差 估计值 误差 估计值 误差 CEP-BRIR-CC —54.8° 5.2° —19.6° 4.6° —3° 3° 35.2° 5.2° 41.1° 3.9° CEP-GCC-ITD —67.6° 7.6° —22.3° 7.3° 7.5° 7.5° 36.9° 6.9° 52.8° 7.8° CEP-CC-ITD —50.9° 9.1° —23.5° 8.5° 8.8° 8.8° 22.0° 8.0° 54.2° 9.2°
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