相关论文: Robust Localization and Tracking of Simultaneous M…

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…

In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…

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…

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…

Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…

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…

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…

We propose to use neural networks for simultaneous detection and localization of multiple sound sources in human-robot interaction. In contrast to conventional signal processing techniques, neural network-based sound source localization…

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…

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…

Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays to localize, track and separate sound sources online.…

The ability to localize and track acoustic events is a fundamental prerequisite for equipping machines with the ability to be aware of and engage with humans in their surrounding environment. However, in realistic scenarios, audio signals…

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…

Sound sources localization using multichannel signal processing has been a subject of active research for decades. In recent years, the use of deep learning in audio signal processing has allowed to drastically improve performances for…

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…

This paper investigates the joint localization, detection, and tracking of sound events using a convolutional recurrent neural network (CRNN). We use a CRNN previously proposed for the localization and detection of stationary sources, and…

Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security…

We address the problem of online localization and tracking of multiple moving speakers in reverberant environments. The paper has the following contributions. We use the direct-path relative transfer function (DP-RTF), an inter-channel…

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…

Estimation of the location of sound sources is usually done using microphone arrays. Such settings provide an environment where we know the difference between the received signals among different microphones in the terms of phase or…