公开(公告)号：US09989626B2

公开(公告)日：2018-06-05

申请号：US14783008

申请日：2013-04-12

Applicant: Hitachi, Ltd.

Inventor： Takashi Sumiyoshi ,  Yasunari Obuchi ,  Naoyuki Kanda ,  Ryu Takeda

IPC: G01S5/18 ,  G01S3/808

CPC classification number: G01S5/18 ,  G01S3/8083

Abstract: The present invention pertains to a method for estimating a sound source position in a space with high accuracy using a microphone installed on a robot moving in the space. A mobile robot includes a self-position estimation unit configure to estimate the self-position of the mobile robot, a sound source information obtaining unit configured to obtain direction information of an observed sound source, and a sound source position estimation unit configured to estimate the position of the sound source based on the estimated self-position and the direction information of the sound source.