相关论文: Localization of Simultaneous Moving Sound Sources …
Most existing beamforming methods are frequency-domain methods, and are designed for enhancing a farfield target source over a narrow frequency band. They have found diverse applications and are still under active development. However, they…
The goal of the multi-sound source localization task is to localize sound sources from the mixture individually. While recent multi-sound source localization methods have shown improved performance, they face challenges due to their…
Many sound source localization (SSL) algorithms based on circular microphone array (CMA), including uniform circular array (UCA) and uniform concentric circular array (UCCA), have been well developed and verified via computer simulations…
Estimation of the direction-of-arrival (DOA) of sound sources is an important step in sound field analysis. Rigid spherical microphone arrays allow the calculation of a compact spherical harmonic representation of the sound field. A basic…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
The muzzle blast caused by the discharge of a firearm generates a loud, impulsive sound that propagates away from the shooter in all directions. The location of the source can be computed from time-of-arrival measurements of the muzzle…
Recent advancements in quadruped robot research have significantly improved their ability to traverse complex and unstructured outdoor environments. However, the issue of noise generated during locomotion is generally overlooked, which is…
In this paper we use the MAP criterion to locate a region containing a source. Sensors placed in a field of interest divide the latter into smaller regions and take measurements that are transmitted over noisy wireless channels. We propose…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
We consider the problem of separating speech sources captured by multiple spatially separated devices, each of which has multiple microphones and samples its signals at a slightly different rate. Most asynchronous array processing methods…
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…
This paper considers the problem of audio source separation where the goal is to isolate a target audio signal (say Alice's speech) from a mixture of multiple interfering signals (e.g., when many people are talking). This problem has gained…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
In the analysis of acoustic scenes, often the occurring sounds have to be detected in time, recognized, and localized in space. Usually, each of these tasks is done separately. In this paper, a model-based approach to jointly carry them out…
Early visual to auditory substitution devices encode 2D monocular images into sounds while more recent devices use distance information from 3D sensors. This study assesses whether the addition of sound-encoded distance in recent systems…
This paper introduces a modification of phase transform on singular value decomposition (SVD-PHAT) to localize multiple sound sources. This work aims to improve localization accuracy and keeps the algorithm complexity low for real-time…
This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…
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,…
Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…