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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…

This work presents a unified framework for estimating both sound-field direction and diffuseness using practical microphone arrays with different spatial configurations. Building on covariance-based diffuseness models, we formulate a…

Algorithms for acoustic source localization and tracking provide estimates of the positional information about active sound sources in acoustic environments and are essential for a wide range of applications such as personal assistants,…

We address the problem of estimating depth with multi modal audio visual data. Inspired by the ability of animals, such as bats and dolphins, to infer distance of objects with echolocation, some recent methods have utilized echoes for depth…

We study the spectral properties of a class of random matrices where the matrix elements depend exponentially on the distance between uniformly and randomly distributed points. This model arises naturally in various physical contexts, such…

The ability to localize and track acoustic events is a fundamental prerequisite for equipping machines with the ability to be aware of and engage with humans in their surrounding environment. However, in realistic scenarios, audio signals…

The human auditory cortex is topographically organized. Neurons with similar response properties are spatially clustered, forming smooth maps for acoustic features such as frequency in early auditory areas, and modular regions selective for…

This paper presents a novel approach for indoor acoustic source localization using microphone arrays and based on a Convolutional Neural Network (CNN). The proposed solution is, to the best of our knowledge, the first published work in…

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…

Location information can be a valuable signal for audio segmentation tasks, especially as a complement to methods focusing on the content or qualities of the sources. Though audio source localization is typically performed using the…

This work proposes a tentative model for the calculation of dimensionless distances between phonemes; sounds are described with binary distinctive features and distances show linear consistency in terms of such features. The model can be…

We describe new approaches for distances between pairs of 2-dimensional surfaces (embedded in 3-dimensional space) that use local structures and global information contained in inter-structure geometric relationships. We present algorithms…

Measuring 3D geometric structures of indoor scenes requires dedicated depth sensors, which are not always available. Echo-based depth estimation has recently been studied as a promising alternative solution. All previous studies have…

This paper addresses the problem of ad hoc microphone array calibration where only partial information about the distances between microphones is available. We construct a matrix consisting of the pairwise distances and propose to estimate…

For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…

One way to characterize configurations of points up to congruence is by considering the distribution of all mutual distances between points. This paper deals with the question if point configurations are uniquely determined by this…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

We consider the sound ranging, or source localization, problem --- find the unknown source-point from known moments when the spherical wave of linearly, with time, increasing radius reaches known sensor-points --- in some non-proper metric…

Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…

Acoustic local positioning systems (ALPSs) are an interesting alternative for indoor positioning due to certain advantages over other approaches, including their relatively high accuracy, low cost, and room-level signal propagation.…