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

Augmented listening devices such as hearing aids often perform poorly in noisy and reverberant environments with many competing sound sources. Large distributed microphone arrays can improve performance, but data from remote microphones…

Deep learning-based sound event localization and classification is an emerging research area within wireless acoustic sensor networks. However, current methods for sound event localization and classification typically rely on a single…

The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…

The objective of this paper is to perform audio-visual sound source separation, i.e.~to separate component audios from a mixture based on the videos of sound sources. Moreover, we aim to pinpoint the source location in the input video…

With millimeter wave wireless communications, the resulting radiation reflects on most visible objects, creating rich multipath environments, namely in urban scenarios. The radiation captured by a listening device is thus shaped by the…

To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…

Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…

We propose an efficient method to estimate source power spectral densities (PSDs) in a multi-source reverberant environment using a spherical microphone array. The proposed method utilizes the spatial correlation between the spherical…

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…

We propose BeamTransformer, an efficient architecture to leverage beamformer's edge in spatial filtering and transformer's capability in context sequence modeling. BeamTransformer seeks to optimize modeling of sequential relationship among…

Multi-channel speech separation using speaker's directional information has demonstrated significant gains over blind speech separation. However, it has two limitations. First, substantial performance degradation is observed when the coming…

Localizing visual sounds consists on locating the position of objects that emit sound within an image. It is a growing research area with potential applications in monitoring natural and urban environments, such as wildlife migration and…

Recent data- and learning-based sound source localization (SSL) methods have shown strong performance in challenging acoustic scenarios. However, little work has been done on adapting such methods to track consistently multiple sources…

Speech separation with several speakers is a challenging task because of the non-stationarity of the speech and the strong signal similarity between interferent sources. Current state-of-the-art solutions can separate well the different…

A popular method to estimate the positions or directions-of-arrival (DOAs) of multiple sound sources using an array of microphones is based on steered-response power (SRP) beamforming. For a three-dimensional scenario, SRP-based methods…

Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…

This paper introduces a state-machine model for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The algorithm uniquely combines two exploration strategies for gas source localization and…

Speakers may move around while diarisation is being performed. When a microphone array is used, the instantaneous locations of where the sounds originated from can be estimated, and previous investigations have shown that such information…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a…