Granted Patent B2

US 12,228,669 · App. 18/313,613 · Granted Feb 18, 2025

Inventors: Antti Eronen (Tampere, FI); Arto Lehtiniemi (Lempäälä, FI); Tapani Pihlajakuja (Vantaa, FI); Jussi Leppänen (Tampere, FI)

Assignee: NOKIA TECHNOLOGIES OY

G01S5/28G10L25/18H04R1/406H04R3/005H04R3/04H04R2430/03

Abstract

Claims (79)

1. An apparatus comprising:

processing circuitry; and

memory circuitry including computer program code, the memory circuitry and the computer program code configured to, with the processing circuitry, enable the apparatus to:

receive at least two audio signals from a microphone array located within a sound scene;

receive at least one further audio signal associated with at least one sound source from the sound scene;

determine at least one portion of the at least two audio signals from the microphone array corresponding to the at least one further audio signal, wherein the at least one portion is determined by identifying at least one sub-band, associated with the at least one sound source, of the at least two audio signals;

determine a distance estimate to the at least one sound source based on the at least one portion of the at least two audio signals from the microphone array corresponding to the at least one further audio signal; and

determine a position estimate for the at least one sound source based upon a combination of the distance estimate to the at least one sound source and a direction of arrival estimate from a position estimation system, wherein the direction of arrival estimate is associated with the at least one sound source and comprises at least one of an azimuth value or an elevation value.

2. The apparatus as claimed in claim 1 , wherein the apparatus is further configured to:

in addition to the direction of arrival estimate from the position estimation system, determine at least one audio sub-band positioning system direction of arrival estimate based on the identified sub-band of the at least two audio signals;

determine a variance based on the at least one audio sub-band positioning system direction of arrival estimate; and

determine the distance estimate to the at least one sound source based on the determined variance.

3. The apparatus as claimed in claim 2 , wherein the apparatus configured to determine the variance is configured to:

combine the identified sub-band direction of arrival estimates;

divide the combined direction of arrival estimates by the cardinality of the at least one audio sub-band positioning system direction of arrival estimates;

determine the distance between 1 and the divided combined direction of arrival estimates; and

square root the distance to determine the variance.

4. The apparatus as claimed in claim 2 , wherein the determined variance based on the at least one audio sub-band positioning system direction of arrival estimate is associated with the at least one sound source, and the position estimation system direction of arrival estimate.

5. The apparatus as claimed in claim 2 , wherein the apparatus configured to determine the variance is further configured to:

combine the at least one audio sub-band positioning system direction of arrival estimates and the position estimation system direction of arrival estimates;

divide the combined estimates by the cardinality of the at least one audio sub-band positioning system direction of arrival estimates and the position estimation system direction of arrival estimate;

determine the distance between 1 and the divided combined estimates; and

square root the distance.

6. The apparatus as claimed in claim 2 , wherein the apparatus configured to determine the at least one audio sub-band positioning system direction of arrival estimate is configured to:

determine a time delay between the at least two audio signals; and

determine the at least one audio sub-band positioning system direction of arrival based on the time delay.

7. The apparatus as claimed in claim 2 , wherein the apparatus configured to identify the at least one sub-band of the at least two audio signals is further configured to:

combine the at least two audio signals to generate a sum audio signal;

filter the sum audio signal to generate sub-bands of the sum audio signal;

compare the sub-bands of the sum audio signal to at least part of the at least one further audio signal; and

identify the at least one sub-band based on the comparison.

8. The apparatus as claimed in claim 7 , wherein the at least part of the at least one further audio signal comprises at least one of:

a sub-band filtered version of the at least one further audio signal; and

the at least one further audio signal.

9. The apparatus as claimed in claim 1 , wherein the position estimation system comprises a radio frequency position estimation system; a satellite-based position estimation system; an inertial position estimation system; or a beacon-based position estimation system.

10. A method for generating at least one distance estimate to at least one sound source within a sound scene comprising the least one sound source, the method comprising:

receiving at least two audio signals from a microphone array located within the sound scene;

receiving at least one further audio signal associated with the at least one sound source;

determining at least one portion of the at least two audio signals from the microphone array corresponding to the at least one further audio signal, wherein determining the at least one portion comprises identifying at least one sub-band, associated with the at least one sound source, of the at least two audio signals;

determining a distance estimate to the at least one sound source based on the at least one portion of the at least two audio signals from the microphone array; and

determining a position estimate for the at least one sound source based upon a combination of the distance estimate to the at least one sound source and a direction of arrival estimate from a position estimation system, wherein the direction of arrival estimate is associated with the at least one sound source and comprises at least one of an azimuth value or an elevation value.

11. The method as claimed in claim 10 , wherein determining the at least one portion of the at least two audio signals comprises at least one of:

in addition to the direction of arrival estimate from the position estimation system, determining at least one audio sub-band positioning system direction of arrival estimate based on the identified sub-band of the at least two audio signals;

determining a variance based on the at least one audio sub-band positioning system direction of arrival estimate; and

determining the distance estimate to the at least one sound source based on the determined variance.

12. The method as claimed in claim 11 , wherein determining the variance comprises:

combining the identified sub-band direction of arrival estimates;

dividing the combined direction of arrival estimates by the cardinality of the at least one audio sub-band positioning system direction of arrival estimates;

determining the distance between 1 and the divided combined direction of arrival estimates; and

square rooting the distance to determine the variance.

13. The method as claimed in claim 11 , wherein determining the variance further comprises determining the variance based on the at least one audio sub-band positioning system direction of arrival estimate associated with the at least one sound source, and the position estimation system direction of arrival estimate.

14. The method as claimed in claim 11 , wherein determining the variance further comprises:

combining the at least one audio sub-band positioning system direction of arrival estimates and the position estimation system direction of arrival estimates;

dividing the combined estimates by the cardinality of the at least one audio sub-band positioning system direction of arrival estimates and the position estimation system direction of arrival estimates;

determining the distance between 1 and the divided combined estimates; and

square rooting the distance.

15. The method as claimed in claim 11 , wherein determining the at least one audio sub-band positioning system direction of arrival estimate comprises:

determining a time delay between the at least two audio signals; and

determining the at least one audio sub-band positioning system direction of arrival based on the time delay.

16. The method as claimed in claim 11 , wherein identifying at least one sub-band of the at least two audio signals comprises:

combining the at least two audio signals to generate a sum audio signal;

filtering the sum audio signal to generate sub-bands of the sum audio signal;

comparing the sub-bands of the sum audio signal to at least part of the at least one further audio signal; and

identifying the at least one sub-band based on the comparison.

17. The method as claimed in claim 16 , wherein the at least part of the at least one further audio signal comprises at least one of:

a sub-band filtered version of the at least one further audio signal; and

the at least one further audio signal.

18. The method as claimed in claim 10 , wherein the position estimation system comprises a radio frequency position estimation system; a satellite-based position estimation system; an inertial position estimation system; or a beacon-based position estimation system.

19. An apparatus comprising:

processing circuitry; and

memory circuitry including computer program code, the memory circuitry and the computer program code configured to, with the processing circuitry, enable the apparatus to:

receive at least two audio signals from a microphone array located within a sound scene;

receive at least one further audio signal associated with at least one sound source from the sound scene;

determine at least one portion of the at least two audio signals from the microphone array corresponding to the at least one further audio signal, wherein the at least one portion is determined by identifying at least one sub-band, associated with the at least one sound source, of the at least two audio signals;

determine a direction of arrival estimate from a position estimation system;

determine at least one audio sub-band positioning system direction of arrival estimate based on the identified sub-band of the at least two audio signals;

determine a variance based on the at least one audio sub-band positioning system direction of arrival estimate;

determine a distance estimate to the at least one sound source based on the at least one portion of the at least two audio signals from the microphone array corresponding to the at least one further audio signal and the determined variance; and

determine a position estimate for the at least one sound source based upon a combination of the distance estimate to the at least one sound source and the direction of arrival estimate from the position estimation system, wherein the direction of arrival estimate is associated with the at least one sound source.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (29)