相关论文: Localization of Simultaneous Moving Sound Sources …

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

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…

Most recent work in visual sound source localization relies on semantic audio-visual representations learned in a self-supervised manner, and by design excludes temporal information present in videos. While it proves to be effective for…

Shifting 6G-and-beyond wireless systems to higher frequency bands and the utilization of massive multiple-input multiple-output arrays will extend the near-field region, affecting beamforming and user localization schemes. In this paper, we…

This paper proposes a new method that fuses acoustic measurements in the reverberation field and low-accuracy inertial measurement unit (IMU) motion reports for simultaneous localization and mapping (SLAM). Different from existing studies…

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…

Given a multi-microphone recording of an unknown number of speakers talking concurrently, we simultaneously localize the sources and separate the individual speakers. At the core of our method is a deep network, in the waveform domain,…

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…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…

Accurately localizing multiple sources is a critical task with various applications in wireless communications, such as emergency services, including natural post-disaster search and rescue operations. However, scenarios where the receiver…

In this paper we present a new localization method SMS-LORETA (Simultaneous Multiple Sources- Low Resolution Brain Electromagnetic Tomography), capable to locate efficiently multiple simultaneous sources. The new method overcomes some of…

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…

In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds…

Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…

Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…

This paper presents a new acoustic emission (AE) source localization for isotropic plates with reflecting boundaries. This approach that has no blind spot leverages multimodal edge reflections to identify AE sources with only a single…

Localizing linearly moving sound sources using microphone arrays is challenging as the transient nature of the signal leads to relatively short observation periods. Commonly, a moving focus is used and most methods operate at least…

In this work, we propose a two-dimensional Head-Related Transfer Function (HRTF)-based robust beamformer design for robot audition, which allows for explicit control of the beamformer response for the entire three-dimensional sound field…

As we interact with the world, for example when we communicate with our colleagues in a large open space or meeting room, we continuously analyse the surrounding environment and, in particular, localise and recognise acoustic events. While…