{"id":"https://openalex.org/W2200788328","doi":"https://doi.org/10.1109/humanoids.2015.7363462","title":"Performance comparison of MUSIC-based sound localization methods on small humanoid under low SNR conditions","display_name":"Performance comparison of MUSIC-based sound localization methods on small humanoid under low SNR conditions","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2200788328","doi":"https://doi.org/10.1109/humanoids.2015.7363462","mag":"2200788328"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018403421","display_name":"Ryu Takeda","orcid":"https://orcid.org/0009-0007-0518-6245"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryu Takeda","raw_affiliation_strings":["The Institute of Scientific and Industrial Research, Osaka University, 8\u20131 Mihogaoka, Ibaraki, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Scientific and Industrial Research, Osaka University, 8\u20131 Mihogaoka, Ibaraki, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049614400","display_name":"Kazunori Komatani","orcid":"https://orcid.org/0000-0002-6052-600X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Komatani","raw_affiliation_strings":["The Institute of Scientific and Industrial Research, Osaka University, 8\u20131 Mihogaoka, Ibaraki, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Scientific and Industrial Research, Osaka University, 8\u20131 Mihogaoka, Ibaraki, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5799,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6853183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"859","last_page":"865"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10931","display_name":"Direction-of-Arrival Estimation Techniques","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6826150417327881},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6250289678573608},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6216490268707275},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5909057855606079},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.5858924388885498},{"id":"https://openalex.org/keywords/singular-value-decomposition","display_name":"Singular value decomposition","score":0.548348069190979},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.5052414536476135},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49277380108833313},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4898335635662079},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.4663694500923157},{"id":"https://openalex.org/keywords/signal-to-noise-ratio","display_name":"Signal-to-noise ratio (imaging)","score":0.4303285479545593},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4253723621368408},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.35635828971862793},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3208445906639099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28678274154663086},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09495288133621216},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.08026495575904846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6826150417327881},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6250289678573608},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6216490268707275},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5909057855606079},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.5858924388885498},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"score":0.548348069190979},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.5052414536476135},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49277380108833313},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4898335635662079},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.4663694500923157},{"id":"https://openalex.org/C13944312","wikidata":"https://www.wikidata.org/wiki/Q7512748","display_name":"Signal-to-noise ratio (imaging)","level":2,"score":0.4303285479545593},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4253723621368408},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35635828971862793},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3208445906639099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28678274154663086},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09495288133621216},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.08026495575904846},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2061277372","https://openalex.org/W2063521662","https://openalex.org/W2068493985","https://openalex.org/W2084533374","https://openalex.org/W2101856597","https://openalex.org/W2113638573","https://openalex.org/W2121065047","https://openalex.org/W2130912818","https://openalex.org/W2130935889","https://openalex.org/W2140571699","https://openalex.org/W2171355909","https://openalex.org/W6678139903"],"related_works":["https://openalex.org/W1879255185","https://openalex.org/W2769861442","https://openalex.org/W1980506188","https://openalex.org/W2900122540","https://openalex.org/W4240587264","https://openalex.org/W2963983801","https://openalex.org/W3119734852","https://openalex.org/W2804363668","https://openalex.org/W1515932869","https://openalex.org/W1654949927"],"abstract_inverted_index":{"We":[0,147,205],"focus":[1],"on":[2,25,111,121,137,153],"the":[3,38,49,104,208],"sound":[4],"source":[5],"localization":[6,21,195],"(SSL)":[7],"problem":[8],"of":[9,22,40,106,162,167,194,212],"small/weak":[10],"voices":[11],"recorded":[12],"by":[13,101,174,197,215],"small":[14,23,139],"humanoid":[15,140],"robots,":[16],"such":[17,26,83],"as":[18,84,158],"Nao.":[19],"The":[20,164],"voice":[24],"robots":[27,122],"is":[28,61,67,169],"more":[29],"difficult":[30],"than":[31],"those":[32],"with":[33,123,142,172],"large":[34,124],"bodies":[35,125],"because":[36],"1)":[37],"number":[39,105],"microphones":[41],"and":[42,47,58,73,89,108,126,210],"their":[43,96,109],"positions":[44],"are":[45,98],"restricted":[46],"2)":[48],"signal":[50],"to":[51,131],"noise":[52,57,102,144],"ratio":[53],"(SNR)":[54],"between":[55],"internal":[56,143],"human":[59],"speech":[60],"low.":[62],"Multiple":[63],"Signal":[64],"Classification":[65],"(MUSIC)":[66],"a":[68,138,159],"promising":[69],"noise-robust":[70],"SSL":[71],"method,":[72],"it":[74],"has":[75],"several":[76],"variants":[77,134],"in":[78,145,192],"its":[79,176],"eigenvector":[80],"decomposition":[81,87,93],"process,":[82],"generalized":[85,90],"eigenvalue":[86],"(GEVD-MUSIC)":[88],"singular":[91],"value":[92],"(GSVD-MUSIC).":[94],"However,":[95],"performances":[97,211],"seriously":[99],"affected":[100],"properties,":[103],"microphone,":[107],"configurations":[110],"each":[112],"robot's":[113],"body.":[114],"Since":[115],"these":[116],"have":[117],"been":[118],"confirmed":[119],"only":[120],"many":[127],"microphones,":[128],"we":[129],"need":[130],"investigate":[132],"which":[133],"perform":[135],"better":[136],"robot":[141],"it.":[146],"furthermore":[148],"propose":[149],"another":[150],"MUSIC":[151],"based":[152],"transformed":[154],"steering":[155],"vector":[156],"(TSV-MUSIC)":[157],"new":[160],"implementation":[161],"GEVD-MUSIC.":[163],"computational":[165],"cost":[166],"TSV-MUSIC":[168,189],"reduced":[170],"compared":[171,207],"GEVD-MUSIC":[173],"changing":[175],"matrix":[177],"multiplication":[178],"procedures.":[179],"Experimental":[180],"results":[181],"using":[182,216],"real":[183],"recoded":[184],"data":[185],"showed":[186],"that":[187],"our":[188],"outperformed":[190],"others":[191],"terms":[193],"correctness":[196],"about":[198],"10":[199],"points":[200],"under":[201],"low":[202],"SNR":[203],"condition.":[204],"also":[206],"properties":[209],"MUSIC-based":[213],"SSLs":[214],"simulated":[217],"data.":[218]},"counts_by_year":[{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
