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arXiv · 1704.08953

Design of robust two-dimensional polynomial beamformers as a convex optimization problem with application to robot audition

Hendrik Barfuss·Markus Bachmann·Michael Buerger·Martin Schneider·Walter Kellerman
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Abstract

We propose a robust two-dimensional polynomial beamformer design method, formulated as a convex optimization problem, which allows for flexible steering of a previously proposed data-independent robust beamformer in both azimuth and elevation direction.~As an exemplary application, the proposed two-dimensional polynomial beamformer design is applied to a twelve-element microphone array, integrated into the head of a humanoid robot. To account for the effects of the robot's head on the sound field, measured head-related transfer functions are integrated into the optimization problem as steering vectors. The two-dimensional polynomial beamformer design is evaluated using signal-independent and signal-dependent measures. The results confirm that the proposed polynomial beamformer design approximates the original fixed beamformer design very accurately, which makes it an attractive approach for robust real-time data-independent beamforming.

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Hendrik Barfuss, Markus Bachmann, Michael Buerger, Martin Schneider, Walter Kellerman. 2017-08-01. Design of robust two-dimensional polynomial beamformers as a convex optimization problem with application to robot audition. https://arxiv.org/abs/1704.08953

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