相关论文: Localization of Simultaneous Moving Sound Sources …

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…

Developing algorithms for sound classification, detection, and localization requires large amounts of flexible and realistic audio data, especially when leveraging modern machine learning and beamforming techniques. However, most existing…

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…

Sound source localization (SSL) is a critical technology for determining the position of sound sources in complex environments. However, existing methods face challenges such as high computational costs and precise calibration requirements,…

This paper presents a method for real-time estimation of 2-dimensional direction of arrival (2D-DOA) of one or more sound sources using a nonlinear array of three microphones. 2D-DOA is estimated employing frame-level time difference of…

How to visually localize multiple sound sources in unconstrained videos is a formidable problem, especially when lack of the pairwise sound-object annotations. To solve this problem, we develop a two-stage audiovisual learning framework…

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,…

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…

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…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

Non-line-of-sight localization in signal-deprived environments is a challenging yet pertinent problem. Acoustic methods in such predominantly indoor scenarios encounter difficulty due to the reverberant nature. In this study, we aim to…

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…

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…

This paper describes the integration of weighted delay-and-sum beamforming with speech source localization using image processing and robot head visual servoing for source tracking. We take into consideration the fact that the directivity…

In this paper, we tackle the problem of localizing the source of a three-dimensional signal field with a team of mobile robots able to collect noisy measurements of its strength and share information with each other. The adopted strategy is…

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)…

We present a method for simultaneously localizing multiple sound sources within a visual scene. This task requires a model to both group a sound mixture into individual sources, and to associate them with a visual signal. Our method jointly…

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…

Sound source localization (SSL) adds a spatial dimension to auditory perception, allowing a system to pinpoint the origin of speech, machinery noise, warning tones, or other acoustic events, capabilities that facilitate robot navigation,…

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…