Related papers: Autonomous Localization and Mapping Using a Single…
We study the problem of localizing a configuration of points and planes from the collection of point-to-plane distances. This problem models simultaneous localization and mapping from acoustic echoes as well as the notable "structure from…
We show that one can reconstruct the shape of a room with planar walls from the first-order echoes received by four non-planar microphones placed on a drone with generic position and orientation. Both the cases where the source is located…
Conventional approaches to sound localization and separation are based on microphone arrays in artificial systems. Inspired by the selective perception of human auditory system, we design a multi-source listening system which can separate…
This paper presents a method to reconstruct the 3D structure of generic convex rooms from sound signals. Differently from most of the previous approaches, the method is fully uncalibrated in the sense that no knowledge about the microphones…
We present a novel approach to the 3D sound source localization task for distributed ad-hoc microphone arrays by formulating it as a set-to-set regression problem. By training a multi-modal masked autoencoder model that operates on audio…
We study the problem of simultaneously reconstructing a polygonal room and a trajectory of a device equipped with a (nearly) collocated omnidirectional source and receiver. The device measures arrival times of echoes of pulses emitted by…
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…
Estimation of the location of sound sources is usually done using microphone arrays. Such settings provide an environment where we know the difference between the received signals among different microphones in the terms of phase or…
Assume that a ground-based vehicle moves in a room with walls or other planar surfaces. Can the vehicle reconstruct the positions of the walls from the echoes of a single sound event? We assume that the vehicle carries some microphones and…
Recent years have seen the increasing need of location awareness by mobile applications. This paper presents a room-level indoor localization approach based on the measured room's echos in response to a two-millisecond single-tone inaudible…
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…
Reflective and textureless surfaces such as windows, mirrors, and walls can be a challenge for object and scene reconstruction. These surfaces are often poorly reconstructed and filled with depth discontinuities and holes, making it…
This paper deals with the problem of reconstructing the path of a vehicle in an unknown environment consisting of planar structures using sound. Many systems in the literature do this by using a loudspeaker and microphones mounted on a…
Indoor self-localization is a highly demanded system function for smartphones. The current solutions based on inertial, radio frequency, and geomagnetic sensing may have degraded performance when their limiting factors take effect. In this…
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…
Echo-location is a broad approach to imaging and sensing that includes both man-made RADAR, LIDAR, SONAR and also animal navigation. However, full 3D information based on echo-location requires some form of scanning of the scene in order to…
Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…
This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…
In this paper, we propose novel deep learning based algorithms for multiple sound source localization. Specifically, we aim to find the 2D Cartesian coordinates of multiple sound sources in an enclosed environment by using multiple…
The paper aims at proposing the first shape identification and classification algorithm in echolocation. The approach is based on first extracting geometric features from the reflected waves and then matching them with precomputed ones…