相关论文: Blind as a bat: audible echolocation on small robo…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
Conventional sound source localization methods are mostly based on a single microphone array that consists of multiple microphones. They are usually formulated as the estimation of the direction of arrival problem. In this paper, we propose…
Measuring 3D geometric structures of indoor scenes requires dedicated depth sensors, which are not always available. Echo-based depth estimation has recently been studied as a promising alternative solution. All previous studies have…
Early visual to auditory substitution devices encode 2D monocular images into sounds while more recent devices use distance information from 3D sensors. This study assesses whether the addition of sound-encoded distance in recent systems…
Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…
This work proposes to use passive acoustic perception as an additional sensing modality for intelligent vehicles. We demonstrate that approaching vehicles behind blind corners can be detected by sound before such vehicles enter in…
Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…
While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
The intelligent acoustic emission locator is described in Part I, while Part II discusses blind source separation, time delay estimation and location of two simultaneously active continuous acoustic emission sources. The location of…
This work focuses on reliable detection and segmentation of bird vocalizations as recorded in the open field. Acoustic detection of avian sounds can be used for the automatized monitoring of multiple bird taxa and querying in long-term…
Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…
Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
A deep learning approach based on big data is proposed to locate broadband acoustic sources using a single hydrophone in ocean waveguides with uncertain bottom parameters. Several 50-layer residual neural networks, trained on a huge number…
The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…
Acoustic source localization has been applied in different fields, such as aeronautics and ocean science, generally using multiple microphones array data to reconstruct the source location. However, the model-based beamforming methods fail…
Although indoor localization has been a wide researched topic, obtained results may not fit the requirements that some domains need. Most approaches are not able to precisely localize a fast moving object even with a complex installation,…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…