Related papers: Asynchronous Microphone Array Calibration using Hy…
This paper introduces the Fast Cross-Correlation (FCC) method for Time Difference of Arrival (TDoA) Estimation for pairs of microphones on a small aperture microphone array. FCC relies on low-rank decomposition and exploits symmetry in even…
Gridless direction-of-arrival (DOA) estimation with multiple frequencies can be applied in acoustics source localization problems. We formulate this as an atomic norm minimization (ANM) problem and derive an equivalent regularization-free…
This paper presents a novel approach that integrates 5G Time of Arrival (ToA) measurements into ORB-SLAM3 to enable global localization and enhance mapping capabilities for indoor drone navigation. We extend ORB-SLAM3's optimization…
Source localization is of pivotal importance in several areas such as wireless sensor networks and Internet of Things (IoT), where the location information can be used for a variety of purposes, e.g. surveillance, monitoring, tracking, etc.…
In the task of speaker diarization, the number of small-scale meetings accounts for a large proportion. When microphone arrays are employed as a recording device, its spatial information is usually ignored by most researchers. In this…
In a time-division broadcast positioning system (TDBPS), localizing mobile targets using classical time difference of arrival (TDOA) methods poses significant challenges. Concurrent TDOA measurements are infeasible because targets receive…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of Geometric Source Separation and a post-filter that gives us a…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…
Speech separation has been shown effective for multi-talker speech recognition. Under the ad hoc microphone array setup where the array consists of spatially distributed asynchronous microphones, additional challenges must be overcome as…
Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…
In Ultrasound (US) imaging, Delay and Sum (DAS) is the most common beamformer, but it leads to low quality images. Delay Multiply and Sum (DMAS) was introduced to address this problem. However, the reconstructed images using DMAS still…
Sound event localization and detection (SELD) systems using audio recordings from a microphone array rely on spatial cues for determining the location of sound events. As a consequence, the localization performance of such systems is to a…
In an era where asynchronous environments pose challenges to traditional self-positioning methods, we propose a new transformation to the existing paradigm. Traditionally, time of arrival (TOA) measurements require both microphone and…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
In this work, we consider the problem of joint calibration and direction-of-arrival (DOA) estimation using sensor arrays. This joint estimation problem is referred to as self calibration. Unlike many previous iterative approaches, we…
Speech enhancement performance degrades significantly in noisy environments, limiting the deployment of speech-controlled technologies in industrial settings, such as manufacturing plants. Existing speech enhancement solutions primarly rely…
This paper investigates the impact of array switching patterns on the accuracy of parameter estimation of multipath components for a time division multiplexed (TDM) channel sounder. To measure fast time-varying channels, the conventional…
More and more neural network approaches have achieved considerable improvement upon submodules of speaker diarization system, including speaker change detection and segment-wise speaker embedding extraction. Still, in the clustering stage,…