Related papers: Sound Source Localization for Human-Robot Interact…
Acoustic indoor localization offers the potential for highly accurate position estimation while generally exhibiting low hardware requirements compared to Radio Frequency (RF)-based solutions. Furthermore, angular-based localization…
This paper presents a novel approach for indoor acoustic source localization using microphone arrays and based on a Convolutional Neural Network (CNN). The proposed solution is, to the best of our knowledge, the first published work in…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
The steered response power (SRP) method is one of the most popular approaches for acoustic source localization with microphone arrays. It is often based on simplifying acoustic assumptions, such as an omnidirectional sound source in the far…
Many speaker localization methods can be found in the literature. However, speaker localization under strong reverberation still remains a major challenge in the real-world applications. This paper proposes two algorithms for localizing…
The problem of source localization with ad hoc microphone networks in noisy and reverberant enclosures, given a training set of prerecorded measurements, is addressed in this paper. The training set is assumed to consist of a limited number…
We present a novel approach to the 3D sound source localization task for distributed ad-hoc microphone arrays by formulating it as a set-to-set regression problem. By training a multi-modal masked autoencoder model that operates on audio…
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 describes a system that gives a mobile robot the ability to perform automatic speech recognition with simultaneous speakers. A microphone array is used along with a real-time implementation of Geometric Source Separation and a…
This paper addresses the problem of sound-source localization (SSL) with a robot head, which remains a challenge in real-world environments. In particular we are interested in locating speech sources, as they are of high interest for…
Sound source localization (SSL) technology plays a crucial role in various application areas such as fault diagnosis, speech separation, and vibration noise reduction. Although beamforming algorithms are widely used in SSL, their resolution…
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,…
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…
Speaker localization in a reverberant environment is a fundamental problem in audio signal processing. Many solutions have been developed to tackle this problem. However, previous algorithms typically assume a stationary environment in…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…
Acoustic signal processing in the spherical harmonics domain (SHD) is an active research area that exploits the signals acquired by higher order microphone arrays. A very important task is that concerning the localization of active sound…
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…
In this paper, robust detection, tracking and geometry estimation methods are developed and combined into a system for estimating time-difference estimates, microphone localization and sound source movement. No assumptions on the 3D…
When operating a machine, the operator needs to know some spatial relations, like the relative location of the target or the nearest obstacle. Often, sensors are used to derive this spatial information, and visual displays are deployed as…