Related papers: Weighted delay-and-sum beamforming guided by visua…
Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…
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 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…
The source separation-based speech enhancement problem with multiple beamforming in reverberant indoor environments is addressed in this paper. We propose that more generic solutions should cope with time-varying dynamic scenarios with…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Automatic speech recognition (ASR) in multichannel, multi-speaker scenarios remains challenging due to ambient noise, reverberation and overlapping speakers. In this paper, we propose a beamforming approach that processes specific angular…
Audio zooming, a signal processing technique, enables selective focusing and enhancement of sound signals from a specified region, attenuating others. While traditional beamforming and neural beamforming techniques, centered on creating a…
In-air acoustic imaging systems demand beamforming techniques that offer a high dynamic range and spatial resolution while also remaining robust. Conventional Delay-and-Sum (DAS) beamforming fails to meet these quality demands due to high…
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…
Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Unmanned air vehicles often produce significant noise from their propulsion systems. Using this broadband signal as "acoustic illumination" for an auxiliary sensing system could make vehicles more robust at a minimal cost. We present an…
Modern smart glasses leverage advanced audio sensing and machine learning technologies to offer real-time transcribing and captioning services, considerably enriching human experiences in daily communications. However, such systems…
Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…
The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…
Beamforming is a powerful tool designed to enhance speech signals from the direction of a target source. Computing the beamforming filter requires estimating spatial covariance matrices (SCMs) of the source and noise signals. Time-frequency…
Beamformers often trade off white noise gain against the ability to suppress interferers. With distributed microphone arrays, this trade-off becomes crucial as different arrays capture vastly different magnitude and phase differences for…
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…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
In this paper, the concept of an adaptation algorithm is proposed, which can be used to blindly adapt the microphone array geometry of a humanoid robot such that the performance of the underlying signal separation algorithm is improved. As…