相关论文: Realtime Active Sound Source Localization for Unma…

Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…

In traditional sound event localization and detection (SELD) tasks, the focus is typically on sound event detection (SED) and direction-of-arrival (DOA) estimation, but they fall short of providing full spatial information about the sound…

The localization of multiple signal sources using sensor arrays has been a long-standing research challenge. While numerous solutions have been developed, signal space methods like MUSIC and ESPRIT have gained widespread popularity. As…

Humanoid robots require simultaneous sound event type and direction estimation for situational awareness, but conventional two-channel input struggles with elevation estimation and front-back confusion. This paper proposes a binaural sound…

This paper proposes a real-time system integrating an acoustic material estimation from visual appearance and an on-the-fly mapping in the 3-dimension. The proposed method estimates the acoustic materials of surroundings in indoor scenes…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

Unmanned air vehicles often produce significant noise from their propulsion systems. Using this broadband signal as "acoustic illumination" for an auxiliary sensing system could make vehicles more robust at a minimal cost. We present an…

The use of planar and concentric circular microphone arrays in beamforming has gained attention due to their ability to optimize both azimuth and elevation angles, making them ideal for spatial audio tasks like sound source localization and…

Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…

Radio source localization can benefit many fields, including wireless communications, radar, radio astronomy, wireless sensor networks, positioning systems, and surveillance systems. However, accurately estimating the position of a radio…

Sound source localization aims to seek the direction of arrival (DOA) of all sound sources from the observed multi-channel audio. For the practical problem of unknown number of sources, existing localization algorithms attempt to predict a…

Sound power levels or so-called source levels are essential quantities when it comes to evaluating the active space of bird species, both in the study of animal communication and when designing bioacoustic monitoring schemes. However,…

A popular method to estimate the positions or directions-of-arrival (DOAs) of multiple sound sources using an array of microphones is based on steered-response power (SRP) beamforming. For a three-dimensional scenario, SRP-based methods…

Sound Event Detection and Localization (SELD) is a combined task of identifying sound events and their corresponding direction-of-arrival (DOA). While this task has numerous applications and has been extensively researched in recent years,…

This paper proposes a new paradigm for handling far-field multi-speaker data in an end-to-end neural network manner, called directional automatic speech recognition (D-ASR), which explicitly models source speaker locations. In D-ASR, the…

In this paper, an approach of estimating signal parameters via rotational invariance technique (ESPRIT) is proposed for two-dimensional (2-D) localization of incoherently distributed (ID) sources in large-scale/massive multiple-input…

In this paper, we consider a single-anchor localization system assisted by a reconfigurable intelligent surface (RIS), where the objective is to localize multiple user equipments (UEs) placed in the radiative near-field region of the RIS by…

We introduce a U-net model for 360{\deg} acoustic source localization formulated as a spherical semantic segmentation task. Rather than regressing discrete direction-of-arrival (DoA) angles, our model segments beamformed audio maps (azimuth…

Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics…

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,…