Related papers: Blind as a bat: audible echolocation on small robo…
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…
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…
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…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…
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…
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…
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…
Bats use a sophisticated ultrasonic sensing method called echolocation to recognize the environment. Recently, it has been reported that sighted human participants with no prior experience in echolocation can improve their ability to…
Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In…
We study the problem of localizing a configuration of points and planes from the collection of point-to-plane distances. This problem models simultaneous localization and mapping from acoustic echoes as well as the notable "structure from…
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…
Conventional approaches to sound localization and separation are based on microphone arrays in artificial systems. Inspired by the selective perception of human auditory system, we design a multi-source listening system which can separate…
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…
Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least two spatially preconfigured microphones. This requirement…
This paper considers the problem of simultaneous 2-D room shape reconstruction and self-localization without the requirement of any pre-established infrastructure. A mobile device equipped with co-located microphone and loudspeaker as well…
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…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
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…