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

Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…

We present a method that uses distances between nearest neighbors in Takens space to evaluate a level of noise. The method is valid even for high noise levels. The method has been verified by estimation of noise levels in several chaotic…

Eavesdropping on voice conversations presents a growing threat to personal privacy and information security. In this paper, we present RadEar, a novel RF backscatter-based system designed to enable covert voice eavesdropping through walls.…

Underwater acoustic environment estimation is a challenging but important task for remote sensing scenarios. Current estimation methods require high signal strength and a solution to the fragile echo labeling problem to be effective. In…

Mobile robots are increasingly being used in noisy environments for social purposes, e.g. to provide support in healthcare or public spaces. Since these robots also operate beyond human sight, the question arises as to how different robot…

This paper explores the problem of 3D human pose estimation from only low-level acoustic signals. The existing active acoustic sensing-based approach for 3D human pose estimation implicitly assumes that the target user is positioned along a…

Speech emotion recognition (SER) is an important aspect of effective human-robot collaboration and received a lot of attention from the research community. For example, many neural network-based architectures were proposed recently and…

This paper presents the first implementation of autonomous robotic auscultation of heart and lung sounds. To select auscultation locations that generate high-quality sounds, a Bayesian Optimization (BO) formulation leverages visual…

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…

We present a novel approach for interactive auditory object analysis with a humanoid robot. The robot elicits sensory information by physically shaking visually indistinguishable plastic capsules. It gathers the resulting audio signals from…

The study and application of signal detection techniques based on cross-correlation method for acoustic transient signals in noisy and reverberant environments are presented. These techniques are shown to provide high signal to noise ratio,…

The reverberation time is one of the most important parameters used to characterize the acoustic property of an enclosure. In real-world scenarios, it is much more convenient to estimate the reverberation time blindly from recorded speech…

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 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…

To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…

A method is proposed for performing speech enhancement using ego-noise references with a microphone array embedded in an unmanned aerial vehicle (UAV). The ego-noise reference signals are captured with microphones located near the UAV's…

We present a new method to capture the acoustic characteristics of real-world rooms using commodity devices, and use the captured characteristics to generate similar sounding sources with virtual models. Given the captured audio and an…