相关论文: Multi-Sound-Source Localization Using Machine Lear…

This paper presents a novel machine-hearing system that exploits deep neural networks (DNNs) and head movements for robust binaural localisation of multiple sources in reverberant environments. DNNs are used to learn the relationship…

Spoofing-robust automatic speaker verification (SASV) aims to integrate automatic speaker verification (ASV) and countermeasure (CM). A popular solution is fusion of independent ASV and CM scores. To better modeling SASV, some frameworks…

For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…

In this paper, we propose a convolutional recurrent neural network for joint sound event localization and detection (SELD) of multiple overlapping sound events in three-dimensional (3D) space. The proposed network takes a sequence of…

Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…

This study presents a system for sound source localization in time domain using a deep residual neural network. Data from the linear 8 channel microphone array with 3 cm spacing is used by the network for direction estimation. We propose to…

Sound event localization and detection consists of two subtasks which are sound event detection and direction-of-arrival estimation. While sound event detection mainly relies on time-frequency patterns to distinguish different sound…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…

In the future robots will interact more and more with humans and will have to communicate naturally and efficiently. Automatic speech recognition systems (ASR) will play an important role in creating natural interactions and making robots…

In this paper, we focus on the potential use of unmanned aerial vehicles (UAVs) for search and rescue (SAR) missions in GPS-denied indoor environments. We consider the problem of navigating a UAV to a wireless signal source, e.g., a…

Sound source localization (SSL) is essential for many speech-processing applications. Deep learning models have achieved high performance, but often fail when the training and inference environments differ. Adapting SSL models to dynamic…

In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…

Recently, an end-to-end two-dimensional sound source localization algorithm with ad-hoc microphone arrays formulates the sound source localization problem as a classification problem. The algorithm divides the target indoor space into a set…

Data-based and learning-based sound source localization (SSL) has shown promising results in challenging conditions, and is commonly set as a classification or a regression problem. Regression-based approaches have certain advantages over…

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…

Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…

The objective of this paper is to perform audio-visual sound source separation, i.e.~to separate component audios from a mixture based on the videos of sound sources. Moreover, we aim to pinpoint the source location in the input video…

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…

Data augmentation methods have shown great importance in diverse supervised learning problems where labeled data is scarce or costly to obtain. For sound event localization and detection (SELD) tasks several augmentation methods have been…