Related papers: Robust Sound Source Localization Using a Microphon…
Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and Automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their…
Microphone array techniques can improve the acoustic sensing performance on drones, compared to the use of a single microphone. However, multichannel sound acquisition systems are not available in current commercial drone platforms. To…
This study explores the significance of robot hearing systems, emphasizing their importance for robots operating in diverse and uncertain environments. It introduces the hardware design principles using robotaxis as an example, where…
An important aspect of a humanoid robot is audition. Previous work has presented robot systems capable of sound localization and source segregation based on microphone arrays with various configurations. However, no theoretical framework…
Multi-channel acoustic signal processing is a well-established and powerful tool to exploit the spatial diversity between a target signal and non-target or noise sources for signal enhancement. However, the textbook solutions for optimal…
This paper introduces a new approach to sound source localization using head-related transfer function (HRTF) characteristics, which enable precise full-sphere localization from raw data. While previous research focused primarily on using…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
Augmented listening devices, such as hearing aids and augmented reality headsets, enhance human perception by changing the sounds that we hear. Microphone arrays can improve the performance of listening systems in noisy environments, but…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
This paper proposes a real-time system integrating an acoustic material estimation from visual appearance and an on-the-fly mapping in the 3-dimension. The proposed method estimates the acoustic materials of surroundings in indoor scenes…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…
Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…
Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…
The task of Visual Sound Source Localization (VSSL) involves identifying the location of sound sources in visual scenes, integrating audio-visual data for enhanced scene understanding. Despite advancements in state-of-the-art (SOTA) models,…
The goal of the multi-sound source localization task is to localize sound sources from the mixture individually. While recent multi-sound source localization methods have shown improved performance, they face challenges due to their…
Audio-visual sound source localization task aims to spatially localize sound-making objects within visual scenes by integrating visual and audio cues. However, existing methods struggle with accurately localizing sound-making objects in…
Accurate sound field reproduction in rooms is often limited by the lack of knowledge of the room characteristics. Information about the room shape or nearby reflecting boundaries can, in principle, be used to improve the accuracy of the…
Despite there being clear evidence for top-down (e.g., attentional) effects in biological spatial hearing, relatively few machine hearing systems exploit top-down model-based knowledge in sound localisation. This paper addresses this issue…