相关论文: Robust 3D Localization and Tracking of Sound Sourc…

Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…

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…

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…

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…

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…

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…

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.…

This paper presents a two-step approach for narrowband source localization within reverberant rooms. The first step involves dereverberation by modeling the homogeneous component of the sound field by an equivalent decomposition of…

In this paper, we present a new single sound source DOA estimation and tracking system based on the well-known SRP-PHAT algorithm and a three-dimensional Convolutional Neural Network. It uses SRP-PHAT power maps as input features of a fully…

We present a novel particle filtering algorithm for tracking a moving sound source using a microphone array. If there are N microphones in the array, we track all $N \choose 2$ delays with a single particle filter over time. Since it is…

Sound Source Localization (SSL) are used to estimate the position of sound sources. Various methods have been used for detecting sound and its localization. This paper presents a system for stationary sound source localization by cubical…

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 present the signal processing framework and some results for the IEEE AASP challenge on acoustic source localization and tracking (LOCATA). The system is designed for the direction of arrival (DOA) estimation in single-source scenarios.…

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…

Recently, stunning improvements on multi-channel speech separation have been achieved by neural beamformers when direction information is available. However, most of them neglect to utilize speaker's 2-dimensional (2D) location cues…

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…

Many speaker localization methods can be found in the literature. However, speaker localization under strong reverberation still remains a major challenge in the real-world applications. This paper proposes two algorithms for localizing…

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…

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…