Related papers: Detecting acoustic reflectors using a robot's ego-…

The performance of speech and events recognition systems significantly improved recently thanks to deep learning methods. However, some of these tasks remain challenging when algorithms are deployed on robots due to the unseen mechanical…

This work proposes to use passive acoustic perception as an additional sensing modality for intelligent vehicles. We demonstrate that approaching vehicles behind blind corners can be detected by sound before such vehicles enter in…

Room geometry inference algorithms rely on the localization of acoustic reflectors to identify boundary surfaces of an enclosure. Rooms with highly absorptive walls or walls at large distances from the measurement setup pose challenges for…

In theory, active control could be used to reduce the unwanted noise reflections from surfaces such as a submarine hull or the walls of an anechoic room. In the recent years, a real-time algorithm has been developed to this effect at the…

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…

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…

Any audio recording encapsulates the unique fingerprint of the associated acoustic environment, namely the background noise and reverberation. Considering the scenario of a room equipped with a fixed smart speaker device with one or more…

Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…

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…

We propose Audio Noise Awareness using Visuals of Indoors for NAVIgation for quieter robot path planning. While humans are naturally aware of the noise they make and its impact on those around them, robots currently lack this awareness. A…

Having knowledge on the room acoustic properties, e.g., the location of acoustic reflectors, allows to better reproduce the sound field as intended. Current state-of-the-art methods for room boundary detection using microphone measurements…

Human-robot interaction relies on a noise-robust audio processing module capable of estimating target speech from audio recordings impacted by environmental noise, as well as self-induced noise, so-called ego-noise. While external ambient…

This paper proposes a real-time system integrating an acoustic material estimation from visual appearance and an on-the-fly mapping in the 3-dimension. The proposed method estimates the acoustic materials of surroundings in indoor scenes…

As humans, we hear sound every second of our life. The sound we hear is often affected by the acoustics of the environment surrounding us. For example, a spacious hall leads to more reverberation. Room Impulse Responses (RIR) are commonly…

The accessibility of long-duration recorders, adapted to sometimes demanding field conditions, has enabled the deployment of extensive animal population monitoring campaigns through ecoacoustics. The effectiveness of automatic signal…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

This paper presents an active noise control experiment designed to validate a real-time control strategy for reduction of the noise scattered from a three-dimensional body. The control algorithm relies on estimating the scattered noise by…

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…

How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired…

Accurate sound field reproduction in rooms is often limited by the lack of knowledge of the room characteristics. Information about the room shape or nearby reflecting boundaries can, in principle, be used to improve the accuracy of the…