相关论文: Blind as a bat: audible echolocation on small robo…
In this study, methodology of acoustic emission source localization in composite materials based on artificial intelligence was presented. Carbon fiber reinforced plastic was selected for specimen, and acoustic emission signal were measured…
Unsupervised audio-visual source localization aims at localizing visible sound sources in a video without relying on ground-truth localization for training. Previous works often seek high audio-visual similarities for likely positive…
Grounding objects in images using visual cues is a well-established approach in computer vision, yet the potential of audio as a modality for object recognition and grounding remains underexplored. We introduce YOSS, "You Only Speak Once to…
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…
Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…
Tuning parameters is crucial for the performance of localization and mapping algorithms. In general, the tuning of the parameters requires expert knowledge and is sensitive to information about the structure of the environment. In order to…
This paper proposes a fully automated method for recovering the location of a source and medium parameters in shallow waters. The scenario involves an unknown source emitting low-frequency sound waves in a shallow water environment, and a…
This work introduces a robotic dummy head that fuses the acoustic realism of conventional audiological mannequins with the mobility of robots. The proposed device is capable of moving, talking, and listening as people do, and can be used to…
We explore the interpretation of sound for robot decision making, inspired by human speech comprehension. While previous methods separate sound processing unit and robot controller, we propose an end-to-end deep neural network which…
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…
We propose and implement a novel indoor localization scheme, Swadloon, built upon an accurate acoustic direction finding. Swadloon leverages sensors of the smartphone without the requirement of any specialized devices. The scheme Swadloon…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
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…
Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both…
Navigating in environments where the GPS signal is unavailable, weak, purposefully blocked, or spoofed has become crucial for a wide range of applications. A prime example is autonomous navigation for drones in indoor environments: to fly…
Over 1.5 billion people worldwide live with hearing impairment. Despite various technologies that have been created for individuals with such disabilities, most of these technologies are either extremely expensive or inaccessible for…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…
Visual to auditory sensory substitution devices convert visual information into sound and can provide valuable assistance for blind people. Recent iterations of these devices rely on depth sensors. Rules for converting depth into sound…
Tiny palm-sized aerial robots possess exceptional agility and cost-effectiveness in navigating confined and cluttered environments. However, their limited payload capacity directly constrains the sensing suite on-board the robot, thereby…