相关论文: Evaluation of an open-source implementation of the…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

This paper introduces a novel method for solving the single-source localization problem, specifically addressing the case of trilateration. We formulate the problem as a weighted least-squares problem in the squared distances and…

Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…

This article presents new numerical simulation tools, respectively developed in Matlab and Blender softwares. Available in open-source under the GPL 3.0 license, it uses a ray-tracing/image-sources hybrid method to calculate the room…

Loudspeaker-based spatial audio reproduction schemes are increasingly used for evaluating hearing aids in complex acoustic conditions. To further establish the feasibility of this approach, this study investigated the interaction between…

This paper addresses the problem of sound-source localization (SSL) with a robot head, which remains a challenge in real-world environments. In particular we are interested in locating speech sources, as they are of high interest for…

We present a method for simultaneously localizing multiple sound sources within a visual scene. This task requires a model to both group a sound mixture into individual sources, and to associate them with a visual signal. Our method jointly…

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…

In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…

Sound event localization and detection (SELD) systems using audio recordings from a microphone array rely on spatial cues for determining the location of sound events. As a consequence, the localization performance of such systems is to a…

Parameter-efficient fine-tuning (PEFT) methods, such as LoRA, offer compact and effective alternatives to full model fine-tuning by introducing low-rank updates to pre-trained weights. However, most existing approaches rely on global low…

We present SoundPlot, an open-source framework for analyzing avian vocalizations through acoustic feature extraction, dimensionality reduction, and neural audio synthesis. The system transforms audio signals into a multi-dimensional…

Feature extraction plays an important role in visual localization. Unreliable features on dynamic objects or repetitive regions will interfere with feature matching and challenge indoor localization greatly. To address the problem, we…

This paper addresses the problem of sound-source localization from time-delay estimates using arbitrarily-shaped non-coplanar microphone arrays. A novel geometric formulation is proposed, together with a thorough algebraic analysis and a…

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…

Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…

The time-optimal technique of spatial localization of the random pulsed-point source that has the uniform distribution density on search interval and indicating itself by generation of the instant impulses (delta functions) at random time…

Conventional approaches to sound localization and separation are based on microphone arrays in artificial systems. Inspired by the selective perception of human auditory system, we design a multi-source listening system which can separate…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

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…