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[P1] Audio direction estimator — sound source localization for speaker tracking #430

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opened 2026-03-05 08:51:32 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 08:51:32 -05:00
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Goal

Estimate direction of sound sources using Jabra SPEAK 810 microphone array for speaker localization.

Requirements

  • ROS2 node processing audio from Jabra mic
  • GCC-PHAT or SRP-PHAT for direction of arrival estimation
  • Publish /saltybot/audio_direction (Float32 — bearing in degrees relative to robot)
  • Publish /saltybot/audio_activity (Bool — voice activity detection)
  • Filter out robot self-noise (motor, TTS playback)
  • Integration with person tracker: fuse audio direction with visual tracking for robust follow
  • Works with single Jabra (limited to left/right/front estimation)
  • Optional: if stereo mic available, full 360 bearing
## Goal Estimate direction of sound sources using Jabra SPEAK 810 microphone array for speaker localization. ## Requirements - ROS2 node processing audio from Jabra mic - GCC-PHAT or SRP-PHAT for direction of arrival estimation - Publish /saltybot/audio_direction (Float32 — bearing in degrees relative to robot) - Publish /saltybot/audio_activity (Bool — voice activity detection) - Filter out robot self-noise (motor, TTS playback) - Integration with person tracker: fuse audio direction with visual tracking for robust follow - Works with single Jabra (limited to left/right/front estimation) - Optional: if stereo mic available, full 360 bearing
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#430
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