相关论文: Autonomous Localization and Mapping Using a Single…
We introduce a solution for a specific case of Indoor Localization which involves a directed signal, a reflected signal from the wall and the time difference between them. This solution includes robust localization with a given wall,…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…
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…
Human and/or asset tracking using an attached sensor units helps understand their activities. Most common indoor localization methods for human tracking technologies require expensive infrastructures, deployment and maintenance. To overcome…
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…
One major bottleneck in the practical implementation of received signal strength (RSS) based indoor localization systems is the extensive deployment efforts required to construct the radio maps through fingerprinting. In this paper, we aim…
Single-image room layout reconstruction aims to reconstruct the enclosed 3D structure of a room from a single image. Most previous work relies on the cuboid-shape prior. This paper considers a more general indoor assumption, i.e., the room…
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 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…
Conventional sound source localization methods are mostly based on a single microphone array that consists of multiple microphones. They are usually formulated as the estimation of the direction of arrival problem. In this paper, we propose…
In an era where asynchronous environments pose challenges to traditional self-positioning methods, we propose a new transformation to the existing paradigm. Traditionally, time of arrival (TOA) measurements require both microphone and…
Spatial sampling is traditionally studied in a static setting where static sensors scattered around space take measurements of the spatial field at their locations. In this paper we study the emerging paradigm of sampling and reconstructing…
Spatial audio is an essential medium to audiences for 3D visual and auditory experience. However, the recording devices and techniques are expensive or inaccessible to the general public. In this work, we propose a self-supervised audio…
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…
We propose and test stable algorithms for the reconstruction of the internal conductivity of a biological object using acousto-electric measurements. Namely, the conventional impedance tomography scheme is supplemented by scanning the…
Simultaneous localization and mapping (SLAM) is paramount for unmanned systems to achieve self-localization and navigation. It is challenging to perform SLAM in large environments, due to sensor limitations, complexity of the environment,…
It is commonly observed that acoustic echoes hurt performance of sound source localization (SSL) methods. We introduce the concept of microphone array augmentation with echoes (MIRAGE) and show how estimation of early-echo characteristics…
Spatial audio, which focuses on immersive 3D sound rendering, is widely applied in the acoustic industry. One of the key problems of current spatial audio rendering methods is the lack of personalization based on different anatomies of…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Classical methods for acoustic scene mapping require the estimation of time difference of arrival (TDOA) between microphones. Unfortunately, TDOA estimation is very sensitive to reverberation and additive noise. We introduce an unsupervised…