Related papers: Robust Sound Source Localization Using a Microphon…

A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…

Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness against faulty or noisy inputs, which is indispensable for safety-critical applications like…

Acoustic source localization has been applied in different fields, such as aeronautics and ocean science, generally using multiple microphones array data to reconstruct the source location. However, the model-based beamforming methods fail…

Sound waves cause small vibrations in nearby objects. A few techniques exist in the literature that can extract sound from video. In this paper we study local vibration patterns at different image locations. We show that different locations…

Humans rely on multisensory integration to perceive spatial environments, where auditory cues enable sound source localization in three-dimensional space. Despite the critical role of spatial audio in immersive technologies such as VR/AR,…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…

Underwater acoustic localization has traditionally been challenging due to the presence of unknown environmental structure and dynamic conditions. The problem is richer still when such structure includes occlusion, which causes the loss of…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…

Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…

Late reverberation involves the superposition of many sound reflections resulting in a diffuse sound field. Since the spatially resolved perception of individual diffuse reflections is impossible, simplifications can potentially be made for…

Cough is a protective reflex conveying information on the state of the respiratory system. Cough assessment has been limited so far to subjective measurement tools or uncomfortable (i.e., non-wearable) cough monitors. This limits the…

We present a unique comparative analysis, and evaluation of vision, radio, and audio based localization algorithms. We create the first baseline for the aforementioned sensors using the recently published Lund University Vision, Radio, and…

The localization of multiple signal sources using sensor arrays has been a long-standing research challenge. While numerous solutions have been developed, signal space methods like MUSIC and ESPRIT have gained widespread popularity. As…

We propose Audio Noise Awareness using Visuals of Indoors for NAVIgation for quieter robot path planning. While humans are naturally aware of the noise they make and its impact on those around them, robots currently lack this awareness. A…

Extracting direct-path spatial feature is crucial for sound source localization in adverse acoustic environments. This paper proposes the IPDnet, a neural network that estimates direct-path inter-channel phase difference (DP-IPD) of sound…

This paper describes a sound source localization (SSL) technique that combines an $\alpha$-stable model for the observed signal with a neural network-based approach for modeling steering vectors. Specifically, a physics-informed neural…

While deep-learning-based speaker localization has shown advantages in challenging acoustic environments, it often yields only direction-of-arrival (DOA) cues rather than precise two-dimensional (2D) coordinates. To address this, we propose…

Acoustic signal processing in the spherical harmonics domain (SHD) is an active research area that exploits the signals acquired by higher order microphone arrays. A very important task is that concerning the localization of active sound…