相关论文: Evaluation of an open-source implementation of the…
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…
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…
Cooperative path-finding in multi-agent systems demands scalable solutions to navigate agents from their origins to destinations without conflict. Despite the breadth of research, scalability remains hampered by increased computational…
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…
Answering questions related to audio-visual scenes, i.e., the AVQA task, is becoming increasingly popular. A critical challenge is accurately identifying and tracking sounding objects related to the question along the timeline. In this…
Accurately determining resonance frequencies and quality factors (Q) is crucial in accelerator physics and radiofrequency engineering, as these factors have direct impacts on system design, operational stability, and research results. The…
The steered response power (SRP) approach to acoustic source localization computes a map of the acoustic scene from the frequency-weighted output power of a beamformer steered towards a set of candidate locations. Equivalently, SRP may be…
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…
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,…
The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…
Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach in wireless networks for obtaining position information of transmitters and receivers as well as information on the propagation environment. MP-SLAM…
Source localization is the process of estimating the location of signal sources based on the signals received at different antennas of an antenna array. It has diverse applications, ranging from radar systems and underwater acoustics to…
This paper addresses the problem of multiple-speaker localization in noisy and reverberant environments, using binaural recordings of an acoustic scene. A Gaussian mixture model (GMM) is adopted, whose components correspond to all the…
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous…
Accurately estimating the direction-of-arrival (DOA) of a speech source using a compact microphone array (CMA) is often complicated by background noise and reverberation. A commonly used DOA estimation method is the steered response power…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
The Visual Simultaneous Localization and Mapping (V-SLAM) system has seen significant development in recent years, demonstrating high precision in environments with limited dynamic objects. However, their performance significantly…
Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…
This paper addresses the harmonization of metadata from diverse repositories of language resources (LRs). Leveraging linked data and RDF techniques, we integrate data from multiple sources into a unified model based on DCAT and META-SHARE…
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…