Related papers: Multi-Sound-Source Localization Using Machine Lear…
We propose a semi-supervised localization approach based on deep generative modeling with variational autoencoders (VAEs). Localization in reverberant environments remains a challenge, which machine learning (ML) has shown promise in…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
A popular approach for 3D source localization using multiple microphones is the steered-response power method, where the source position is directly estimated by maximizing a function of three continuous position variables. Instead of…
To phased microphone array for sound source localization, algorithm with both high computational efficiency and high precision is a persistent pursuit. In this paper convolutional neural network (CNN) a kind of deep learning is…
In this paper, the problem of extending narrowband multichannel sound source localization algorithms to the wideband case is addressed. The DOA estimation of narrowband algorithms is based on the estimate of inter-channel phase differences…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
This paper focuses on the problem of localising a transmitting mobile station (MS) using multiple cooperative base stations (BSs). There are two technical difficulties: one is the data association between intermediate parameters and…
In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…
This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…
Spatial audio is an essential medium to audiences for 3D visual and auditory experience. However, the recording devices and techniques are expensive or inaccessible to the general public. In this work, we propose a self-supervised audio…
This paper presents a two-step approach for narrowband source localization within reverberant rooms. The first step involves dereverberation by modeling the homogeneous component of the sound field by an equivalent decomposition of…
In this paper, a multi-modal data based semi-supervised learning (SSL) framework that jointly use channel state information (CSI) data and RGB images for vehicle positioning is designed. In particular, an outdoor positioning system where…
Sound event localization and detection (SELD) combines two subtasks: sound event detection (SED) and direction of arrival (DOA) estimation. SELD is usually tackled as an audio-only problem, but visual information has been recently included.…
It is challenging to train and deploy Transformer LMs for hybrid speech recognition 2nd pass re-ranking in low-resource languages due to (1) data scarcity in low-resource languages, (2) expensive computing costs for training and refreshing…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Sound source localization (SSL) determines the position of sound sources using multi-channel audio data. It is commonly used to improve speech enhancement and separation. Extracting spatial features is crucial for SSL, especially in…
This paper proposes an efficient method based on the steered-response power (SRP) technique for sound source localization using microphone arrays: the volumetric SRP (V-SRP). As compared to the SRP, by deploying a sparser volumetric grid,…
Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…
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…