Related papers: Detecting acoustic reflectors using a robot's ego-…
Distance estimation from audio plays a crucial role in various applications, such as acoustic scene analysis, sound source localization, and room modeling. Most studies predominantly center on employing a classification approach, where…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Recent years have seen the increasing need of location awareness by mobile applications. This paper presents a room-level indoor localization approach based on the measured room's echos in response to a two-millisecond single-tone inaudible…
We investigated, by using auditory models, how three perceptual parameters, loudness, pitch and sharpness, determine human echolocation. We used acoustic recordings from two previous studies, both from stationary situations, and their…
In this paper we present a research on identification of audio recording devices from background noise, thus providing a method for forensics. The audio signal is the sum of speech signal and noise signal. Usually, people pay more attention…
Accurate estimation of indoor space geometries is vital for constructing precise digital twins, whose broad industrial applications include navigation in unfamiliar environments and efficient evacuation planning, particularly in low-light…
While it is often critical for indoor-location- and proximity-aware applications to know whether a user is in a space or not (e.g., a specific room or office), a key challenge is that the difference between standing on one side or another…
Efficient face detection is critical to provide natural human-robot interactions. However, computer vision tends to involve a large computational load due to the amount of data (i.e. pixels) that needs to be processed in a short amount of…
For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers,…
There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach…
In this paper, we consider the use of artificial noise for secure communications. We propose the notion of practical secrecy as a new design criterion based on the behavior of the eavesdropper's error probability $P_E$, as the…
The estimation of the frequencies of multiple superimposed exponentials in noise is an important research problem due to its various applications from engineering to chemistry. In this paper, we propose an efficient and accurate algorithm…
Environmental acoustic sensing involves the retrieval and processing of audio signals to better understand our surroundings. While large-scale acoustic data make manual analysis infeasible, they provide a suitable playground for machine…
Fall detection for the elderly is a well-researched problem with several proposed solutions, including wearable and non-wearable techniques. While the existing techniques have excellent detection rates, their adoption by the target…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
This paper introduces an indoor localization method using fixed reflector objects within the environment, leveraging a base station (BS) equipped with Angle of Arrival (AoA) and Time of Arrival (ToA) measurement capabilities. The…
We present a machine learning based method for noise classification using a low-power and inexpensive IoT unit. We use Mel-frequency cepstral coefficients for audio feature extraction and supervised classification algorithms (that is,…
Augmented reality devices have the potential to enhance human perception and enable other assistive functionalities in complex conversational environments. Effectively capturing the audio-visual context necessary for understanding these…
We address the problem of sound representation and classification and present results of a comparative study in the context of a domestic robotic scenario. A dataset of sounds was recorded in realistic conditions (background noise, presence…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…