相关论文: Blind as a bat: audible echolocation on small robo…

We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with…

Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…

Large-scale vision-language models demonstrate strong multimodal alignment and generalization across diverse tasks. Among them, CLIP stands out as one of the most successful approaches. In this work, we extend the application of CLIP to…

Mobile robots are increasingly being used in noisy environments for social purposes, e.g. to provide support in healthcare or public spaces. Since these robots also operate beyond human sight, the question arises as to how different robot…

Speaker localization in a reverberant environment is a fundamental problem in audio signal processing. Many solutions have been developed to tackle this problem. However, previous algorithms typically assume a stationary environment in…

In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…

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…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

We present a system for localizing sound sources in a room with several ad-hoc microphone arrays. Each circular array performs direction of arrival (DOA) estimation independently using commercial software. The DOAs are fed to a fusion…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…

Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…

Acoustic data (sound recordings) are a vital source of evidence for detecting, counting, and distinguishing wildlife. This domain of "bioacoustics" has grown in the past decade due to the massive advances in signal processing and machine…

We investigated, by using auditory models, how three perceptual parameters, loudness, pitch and sharpness, determine human echolocation. We used acoustic recordings from two previous studies, both from stationary situations, and their…

In this paper, we propose novel deep learning based algorithms for multiple sound source localization. Specifically, we aim to find the 2D Cartesian coordinates of multiple sound sources in an enclosed environment by using multiple…

Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…

In this paper, we present an acoustic side channel attack which makes use of smartphone microphones recording a robot in operation to exploit acoustic properties of the sound to fingerprint a robot's movements. In this work we consider the…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…

In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…