Related papers: Evaluation of an open-source implementation of the…
The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…
For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a multi-session visual SLAM approach to create a map made of…
In this paper, we address the task of active acoustic source tracking as part of robotic path planning. It denotes the planning of sequences of robotic movements to enhance tracking results of acoustic sources, e.g., talking humans, by…
3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…
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…
This article introduces an approach to facilitate cooperative exploration and mapping of large-scale, near-ground, underground, or indoor spaces via a novel integration framework for locally-dense agent map data. The effort targets limited…
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…
In the reconstruction process of sound waves in a 3D stratified waveguide, a key technique is to effectively reduce the huge computational demand. In this work, we propose an efficient and simple multilevel reconstruction method to help…
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…
We present S-Path-RAG, a semantic-aware shortest-path Retrieval-Augmented Generation framework designed to improve multi-hop question answering over large knowledge graphs. S-Path-RAG departs from one-shot, text-heavy retrieval by…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
There are many hurdles that prevent the replication of existing work which hinders the development of new activity classification models. These hurdles include switching between multiple deep learning libraries and the development of…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…
In recent years, significant progress has been made in the field of deep learning for music demixing. However, there has been limited attention on real-time, low-latency music demixing, which holds potential for various applications, such…
This article presents a matheuristic algorithm for the single-source capacitated facility location problem (SSCFLP) and its variants: SSCFLP with K facilities (SSCKFLP), SSCFLP with contiguous service areas (CFLSAP), and SSCFLP with K…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
We present a novel, robust sound source localization algorithm considering back-propagation signals. Sound propagation paths are estimated by generating direct and reflection acoustic rays based on ray tracing in a backward manner. We then…
Low-power wide-area network (LPWAN) technologies featuring long-range communication capability and low power consumption will be important for forming the Internet of Things (IoT) consisting of many geographically distributed objects. Among…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…