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1. 发明授权

US08548494B2 Localization of mobile computing devices in indoor environments 有权
标题翻译：移动计算设备在室内环境中的本地化
公开(公告)号：US08548494B2
公开(公告)日：2013-10-01
申请号：US13215230
申请日：2011-08-23
申请人： Sharad Agarwal , Ivan Tashev , Paramvir Bahl , Ionut Constandache
发明人： Sharad Agarwal , Ivan Tashev , Paramvir Bahl , Ionut Constandache
IPC分类号： H04W24/00
CPC分类号： H04W4/04 , G01S5/20 , G01S19/48 , G06Q50/22 , G06Q90/20
摘要： Various technologies pertaining to localizing multiple mobile computing devices in an indoor environment are described. Pairs of microphone arrays are selectively positioned in an indoor environment. A localization service assigns a frequency and schedule to a mobile telephone, and the mobile telephone begins outputting vibrations at the assigned frequency and in conformance with the assigned schedule. The microphone arrays sense the vibrations, and angles between the microphone arrays, respectively, and the mobile computing device are computed based upon the sensed vibrations. Such angles are subsequently employed to compute the location of the mobile computing device in the indoor environment.
摘要翻译：描述了关于在室内环境中定位多个移动计算设备的各种技术。一对麦克风阵列选择性地定位在室内环境中。本地化服务将频率和时间表分配给移动电话，并且移动电话开始以分配的频率输出振动，并且符合分配的时间表。麦克风阵列感测振动，并且基于感测的振动来计算麦克风阵列和移动计算设备之间的角度。随后采用这样的角度来计算移动计算设备在室内环境中的位置。

2. 发明授权

US08219394B2 Adaptive ambient sound suppression and speech tracking 有权
标题翻译：自适应环境声音抑制和语音跟踪
公开(公告)号：US08219394B2
公开(公告)日：2012-07-10
申请号：US12690827
申请日：2010-01-20
申请人： Jason Flaks , Ivan Tashev , Duncan McKay , Xudong Ni , Robert Heitkamp , Wei Guo , John Tardif , Leo Shing , Michael Baseflug
发明人： Jason Flaks , Ivan Tashev , Duncan McKay , Xudong Ni , Robert Heitkamp , Wei Guo , John Tardif , Leo Shing , Michael Baseflug
IPC分类号： G10L11/00 , G10L21/02 , G10L21/00
CPC分类号： H04S3/008 , G10L21/0208 , G10L21/0272 , G10L2021/02085 , G10L2021/02166
摘要： A device for suppressing ambient sounds from speech received by a microphone array is provided. One embodiment of the device comprises a microphone array, a processor, an analog-to-digital converter, and memory comprising instructions stored therein that are executable by the processor. The instructions stored in the memory are configured to receive a plurality of digital sound signals, each digital sound signal based on an analog sound signal originating at the microphone array, receive a multi-channel speaker signal, generate a monophonic approximation signal of the multi-channel speaker signal, apply a linear acoustic echo canceller to suppress a first ambient sound portion of each digital sound signal, generate a combined directionally-adaptive sound signal from a combination of each digital sound signal by a combination of time-invariant and adaptive beamforming techniques, and apply one or more nonlinear noise suppression techniques to suppress a second ambient sound portion of the combined directionally-adaptive sound signal.
摘要翻译：提供了一种用于抑制由麦克风阵列接收的语音的环境声音的装置。该设备的一个实施例包括麦克风阵列，处理器，模数转换器和包含可由处理器执行的存储在其中的指令的存储器。存储在存储器中的指令被配置为接收多个数字声音信号，基于源自麦克风阵列的模拟声音信号的每个数字声音信号接收多声道扬声器信号，产生多声道扬声器信号的单声道近似信号，应用线性声学回声消除器来抑制每个数字声音信号的第一环境声音部分，通过时不变和自适应波束成形技术的组合从每个数字声音信号的组合产生组合的定向自适应声音信号并且应用一个或多个非线性噪声抑制技术来抑制组合的定向自适应声音信号的第二环境声音部分。

3. 发明申请

US20110274289A1 SENSOR ARRAY BEAMFORMER POST-PROCESSOR 有权
标题翻译：传感器阵列后处理器
公开(公告)号：US20110274289A1
公开(公告)日：2011-11-10
申请号：US13187235
申请日：2011-07-20
申请人： Ivan Tashev , Alejandro Acero
发明人： Ivan Tashev , Alejandro Acero
IPC分类号： H04R3/00
CPC分类号： H04B7/0854
摘要： A novel beamforming post-processor technique with enhanced noise suppression capability. The present beamforming post-processor technique is a non-linear post-processing technique for sensor arrays (e.g., microphone arrays) which improves the directivity and signal separation capabilities. The technique works in so-called instantaneous direction of arrival space, estimates the probability for sound coming from a given incident angle or look-up direction and applies a time-varying, gain based, spatio-temporal filter for suppressing sounds coming from directions other than the sound source direction, resulting in minimal artifacts and musical noise.
摘要翻译：一种具有增强噪声抑制能力的新型波束成形后处理器技术。本波束形成后处理器技术是用于传感器阵列（例如麦克风阵列）的非线性后处理技术，其改善了方向性和信号分离能力。该技术在所谓的瞬时到达空间方向上工作，估计来自给定入射角或查找方向的声音的概率，并且应用时间变化的基于增益的时空滤波器来抑制来自其他方向的声音比声源方向，导致最小的伪影和音乐噪音。

4. 发明授权

US08005238B2 Robust adaptive beamforming with enhanced noise suppression 有权
标题翻译：强大的自适应波束成形，增强噪声抑制
公开(公告)号：US08005238B2
公开(公告)日：2011-08-23
申请号：US11689628
申请日：2007-03-22
申请人： Ivan Tashev , Alejandro Acero , Byung-Jun Yoon
发明人： Ivan Tashev , Alejandro Acero , Byung-Jun Yoon
IPC分类号： H04B15/00
CPC分类号： G01S3/86 , H04B7/0854 , H04R3/005 , H04R2430/20
摘要： A novel adaptive beamforming technique with enhanced noise suppression capability. The technique incorporates the sound-source presence probability into an adaptive blocking matrix. In one embodiment the sound-source presence probability is estimated based on the instantaneous direction of arrival of the input signals and voice activity detection. The technique guarantees robustness to steering vector errors without imposing ad hoc constraints on the adaptive filter coefficients. It can provide good suppression performance for both directional interference signals as well as isotropic ambient noise.
摘要翻译：一种具有增强噪声抑制能力的新型自适应波束成形技术。该技术将声源存在概率纳入自适应阻塞矩阵。在一个实施例中，基于输入信号的瞬时到达方向和语音活动检测来估计声源存在概率。该技术保证对导向矢量误差的鲁棒性，而不会对自适应滤波器系数施加自组织约束。它可以为双向干扰信号以及各向同性环境噪声提供良好的抑制性能。

5. 发明授权

US08005237B2 Sensor array beamformer post-processor 有权
标题翻译：传感器阵列波束形成器后处理器
公开(公告)号：US08005237B2
公开(公告)日：2011-08-23
申请号：US11750319
申请日：2007-05-17
申请人： Ivan Tashev , Alejandro Acero
发明人： Ivan Tashev , Alejandro Acero
IPC分类号： H04R3/00
CPC分类号： H04B7/0854
摘要： A novel beamforming post-processor technique with enhanced noise suppression capability. The present beam forming post-processor technique is a non-linear post-processing technique for sensor arrays (e.g., microphone arrays) which improves the directivity and signal separation capabilities. The technique works in so-called instantaneous direction of arrival space, estimates the probability for sound coming from a given incident angle or look-up direction and applies a time-varying, gain based, spatio-temporal filter for suppressing sounds coming from directions other than the sound source direction resulting in minimal artifacts and musical noise.
摘要翻译：一种具有增强噪声抑制能力的新型波束成形后处理器技术。本发明的波束形成后处理器技术是用于提高方向性和信号分离能力的传感器阵列（例如，麦克风阵列）的非线性后处理技术。该技术在所谓的瞬时到达空间方向上工作，估计来自给定入射角或查找方向的声音的概率，并且应用时间变化的基于增益的时空滤波器来抑制来自其他方向的声音比声源方向导致最小的伪像和音乐噪声。

6. 发明授权

US07852369B2 Integrated design for omni-directional camera and microphone array 有权
标题翻译：全方位摄像头和麦克风阵列的集成设计
公开(公告)号：US07852369B2
公开(公告)日：2010-12-14
申请号：US10184499
申请日：2002-06-27
申请人： Ross Cutler , Ivan Tashev , Yong Rui , Anoop Gupta
发明人： Ross Cutler , Ivan Tashev , Yong Rui , Anoop Gupta
IPC分类号： H04N7/14
CPC分类号： H04R3/02 , H04N5/2259 , H04N5/23203 , H04N7/142 , H04R2201/401
摘要： An omni-directional camera (a 360 degree camera) is proposed with an integrated microphone array. The primary application for such a camera is videoconferencing and meeting recording, and the device is designed to be placed on a meeting room table. The microphone array is in a planar configuration, and the microphones are located as close to the desktop as possible to eliminate sound reflections from the table. The camera is connected to the microphone array base with a thin cylindrical rod, which is acoustically invisible to the microphone array for the frequency range [50-4000] Hz. This provides a direct path from the person talking to all of the microphones in the array, and can therefore be used for sound source localization (determining the location of the talker) and beam-forming (improving the sound quality of the talker by filtering only sound from a particular direction). The camera array is elevated from the table to provide a near frontal viewpoint of the meeting participants.
摘要翻译：提出了一种全方位摄像机（360度摄像机），集成了麦克风阵列。这种相机的主要应用是视频会议和会议录制，设备被设计为放在会议室桌子上。麦克风阵列处于平面配置，麦克风尽可能靠近桌面，以消除桌面的声音反射。摄像机连接到麦克风阵列底座上，并带有一个薄的圆柱形杆，在[50-4000] Hz的频率范围内，麦克风阵列声学上不可见。这提供了从人员通话到阵列中的所有麦克风的直接路径，因此可以用于声源定位（确定讲话者的位置）和波束形成（仅通过滤波来提高讲话者的声音质量声音从特定的方向）。相机阵列从表中提升，以提供会议参与者的近前视点。

7. 发明授权

US07487056B2 Precision of localization estimates 有权
标题翻译：本地化估算精度
公开(公告)号：US07487056B2
公开(公告)日：2009-02-03
申请号：US11210160
申请日：2005-08-22
申请人： Ivan Tashev
发明人： Ivan Tashev
IPC分类号： G06F19/00 , G01J5/10 , G01S3/02 , G06K9/00
CPC分类号： G01S7/00
摘要： Precision and reliability of localization estimates derived from conventional localization systems are improved through a system and method for post-processing of initial localization data, even in environments which may include noise, reflections, or other interference. Such localization systems include conventional sound source localization (SSL) systems based on microphone array inputs, radio source location systems based on directional antenna array inputs, etc. In general, this post-processing system and method applies statistical real-time clustering to initial localization estimates, and then uses this real-time clustering in a multi-stage process to generate new localization estimates having improved precision and reliability relative to the initial localization estimates.
摘要翻译：通过用于对初始定位数据进行后处理的系统和方法，即使在可能包括噪声，反射或其他干扰的环境中，通过传统定位系统得到的定位估计的精度和可靠性得到了改进。这种定位系统包括基于麦克风阵列输入的传统声源定位（SSL）系统，基于定向天线阵列输入的无线电源定位系统等。一般来说，该后处理系统和方法将统计实时聚类应用于初始定位估计，然后在多阶段过程中使用这种实时聚类，以产生相对于初始定位估计具有改进的精度和可靠性的新的定位估计。

8. 发明申请

US20080247274A1 SENSOR ARRAY POST-FILTER FOR TRACKING SPATIAL DISTRIBUTIONS OF SIGNALS AND NOISE 有权
标题翻译：传感器阵列后置滤波器用于跟踪信号和噪声的空间分布
公开(公告)号：US20080247274A1
公开(公告)日：2008-10-09
申请号：US11697410
申请日：2007-04-06
申请人： Michael L. Seltzer , Ivan Tashev
发明人： Michael L. Seltzer , Ivan Tashev
IPC分类号： G01S3/80
CPC分类号： G01S3/8083 , G01S3/86
摘要： A “Sensor Array Post-Filter” provides an adaptive post-filter that accurately models and suppresses both diffuse and directional noise sources as well as interfering speech sources. The post-filter is applied to an output signal produced by a beamformer used to process signals produced by a sensor array. As a result, the Sensor Array Post-Filter operates to improve the signal-to-noise ratio (SNR) of beamformer output signals by providing adaptive post-filtering of the output signals. The post-filter is generated based on a generative statistical model for modeling signal and noise sources at distinct regions in a signal field that considers prior distributions trained to model an instantaneous direction of arrival for signals captured by sensors in the array.
摘要翻译： “传感器阵列后置滤波器”提供了一种自适应后置滤波器，可以精确地建模和抑制漫反射和定向噪声源以及干扰语音源。后滤波器被应用于由用于处理由传感器阵列产生的信号的波束形成器产生的输出信号。因此，传感器阵列后置滤波器通过提供输出信号的自适应后置滤波来操作以改善波束形成器输出信号的信噪比（SNR）。基于生成统计模型生成后置滤波器，该模型用于对信号场中不同区域的信号和噪声源进行建模，该信号和噪声源考虑了先前的分布训练，以对阵列中的传感器捕获的信号捕获的瞬时到达方向建模。

9. 发明申请

US20060210089A1 Dereverberation of multi-channel audio streams 有权
标题翻译：多声道音频流的混响
公开(公告)号：US20060210089A1
公开(公告)日：2006-09-21
申请号：US11166967
申请日：2005-06-24
申请人： Ivan Tashev , Daniel Allred
发明人： Ivan Tashev , Daniel Allred
IPC分类号： H04B3/20
CPC分类号： G10L19/008 , G10L2021/02082 , H04S7/305 , H04S2420/07
摘要： A system and process for dereverberation of multi-channel audio streams is presented which uses reverberation suppression techniques. In general, the present system and process builds a frequency dependent model of the reverberation decay and uses spectral subtraction-based reverberation reduction to achieve the aforementioned suppression. This dereverberation system and process can be used to improve automatic speech recognition (ASR) results with minimal CPU overhead.
摘要翻译：提出了一种使用混响抑制技术的多声道音频流的混响的系统和过程。通常，本系统和过程构建了混响衰减的频率依赖模型，并且使用基于频谱相减的混响减少来实现上述抑制。这种去混响系统和过程可以用于以最小的CPU开销来提高自动语音识别（ASR）结果。

10. 发明授权

US06970796B2 System and method for improving the precision of localization estimates 失效
标题翻译：提高定位精度的系统和方法
公开(公告)号：US06970796B2
公开(公告)日：2005-11-29
申请号：US10791252
申请日：2004-03-01
申请人： Ivan Tashev
发明人： Ivan Tashev
IPC分类号： G01S3/46 , G01S5/04 , G01S5/20 , G01S7/00 , G06F19/00 , G01J5/10 , G01S3/02
CPC分类号： G01S7/00
摘要： Precision and reliability of localization estimates derived from conventional localization systems are improved through a system and method for post-processing of initial localization data, even in environments which may include noise, reflections, or other interference. Such localization systems include conventional sound source localization (SSL) systems based on microphone array inputs, radio source location systems based on directional antenna array inputs, etc. In general, this post-processing system and method applies statistical real-time clustering to initial localization estimates, and then uses this real-time clustering in a multi-stage process to generate new localization estimates having improved precision and reliability relative to the initial localization estimates.
摘要翻译：通过用于对初始定位数据进行后处理的系统和方法，即使在可能包括噪声，反射或其他干扰的环境中，通过传统定位系统得到的定位估计的精度和可靠性得到了改进。这种定位系统包括基于麦克风阵列输入的传统声源定位（SSL）系统，基于定向天线阵列输入的无线电源定位系统等。一般来说，该后处理系统和方法将统计实时聚类应用于初始定位估计，然后在多阶段过程中使用这种实时聚类，以产生相对于初始定位估计具有改进的精度和可靠性的新的定位估计。

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