Related papers: Lightweight and Optimized Sound Source Localizatio…
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…
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…
Sound source localization (SSL) is a critical technology for determining the position of sound sources in complex environments. However, existing methods face challenges such as high computational costs and precise calibration requirements,…
Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least two spatially preconfigured microphones. This requirement…
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…
Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced…
This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed…
In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…
In this paper, we present a new single sound source DOA estimation and tracking system based on the well-known SRP-PHAT algorithm and a three-dimensional Convolutional Neural Network. It uses SRP-PHAT power maps as input features of a fully…
This paper introduces a variant of the Singular Value Decomposition with Phase Transform (SVD-PHAT), named Difference SVD-PHAT (DSVD-PHAT), to achieve robust Sound Source Localization (SSL) in noisy conditions. Experiments are performed on…
Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security…
This paper introduces a modification of phase transform on singular value decomposition (SVD-PHAT) to localize multiple sound sources. This work aims to improve localization accuracy and keeps the algorithm complexity low for real-time…
We propose to use neural networks for simultaneous detection and localization of multiple sound sources in human-robot interaction. In contrast to conventional signal processing techniques, neural network-based sound source localization…
This paper introduces a new localization method called SVD-PHAT. The SVD-PHAT method relies on Singular Value Decomposition of the SRP-PHAT projection matrix. A k-d tree is also proposed to speed up the search for the most likely direction…
This short paper presents an efficient, flexible implementation of the SRP-PHAT multichannel sound source localization method. The method is evaluated on the single-source tasks of the LOCATA 2018 development dataset, and an associated…
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…
Sound source localization (SSL) adds a spatial dimension to auditory perception, allowing a system to pinpoint the origin of speech, machinery noise, warning tones, or other acoustic events, capabilities that facilitate robot navigation,…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…