Towards a parametric speaker system with human head tracking beam control

In this paper, we describe a prototype human head tracking parametric speaker system that can present speech in a highly directional beam. This system is composed of the Kobuki robot platform, the Kinect sensor, a USB-controlled camera pod and a parametric speaker. We found that it is possible to track and deliver speech to a human walking at an average speed of 5 km/h. Experimental results have shown that it is possible to track and continuously present speech at a constant level to a walking subject, with less than 5 dB level variation.