Related papers: Sound Source Localization for Human-Robot Interact…
Sound source localization (SSL) is the task of locating the source of sound within an image. Due to the lack of localization labels, the de facto standard in SSL has been to represent an image and audio as a single embedding vector each,…
This paper addresses the problem of binaural localization of a single speech source in noisy and reverberant environments. For a given binaural microphone setup, the binaural response corresponding to the direct-path propagation of a single…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
A judicious combination of dictionary learning methods, block sparsity and source recovery algorithm are used in a hierarchical manner to identify the noises and the speakers from a noisy conversation between two people. Conversations are…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Audio-visual sound source localization task aims to spatially localize sound-making objects within visual scenes by integrating visual and audio cues. However, existing methods struggle with accurately localizing sound-making objects in…
Existing methods utilizing spatial information for sound source separation require prior knowledge of the direction of arrival (DOA) of the source or utilize estimated but imprecise localization results, which impairs the separation…
We propose a method for variable selection in the intensity function of spatial point processes that combines sparsity-promoting estimation with noise-robust model selection. As high-resolution spatial data becomes increasingly available…
Location information can be a valuable signal for audio segmentation tasks, especially as a complement to methods focusing on the content or qualities of the sources. Though audio source localization is typically performed using the…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
Machine learning algorithms, when trained on audio recordings from a limited set of devices, may not generalize well to samples recorded using other devices with different frequency responses. In this work, a relatively straightforward…
A novel non-negative matrix factorization (NMF) based subband decomposition in frequency spatial domain for acoustic source localization using a microphone array is introduced. The proposed method decomposes source and noise subband and…
Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments.…
We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest…
Multi-source localization is an important and challenging technique for multi-talker conversation analysis. This paper proposes a novel supervised learning method using deep neural networks to estimate the direction of arrival (DOA) of all…
This paper addresses source localization problem in a random shallow water channel. We present an extension of the generalized MUSIC method to the case, %in which when the signal correlation matrix is imprecisely known. The algorithm is…
This paper proposes a new paradigm for handling far-field multi-speaker data in an end-to-end neural network manner, called directional automatic speech recognition (D-ASR), which explicitly models source speaker locations. In D-ASR, the…
The auditory system of humanoid robots has gained increased attention in recent years. This system typically acquires the surrounding sound field by means of a microphone array. Signals acquired by the array are then processed using various…
Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling…
This paper describes a sound source localization (SSL) technique that combines an $\alpha$-stable model for the observed signal with a neural network-based approach for modeling steering vectors. Specifically, a physics-informed neural…