相关论文: Listen to Your Map: An Online Representation for S…
Sonification is the science of communication of data and events to users through sounds. Auditory icons, earcons, and speech are the common auditory display schemes utilized in sonification, or more specifically in the use of audio to…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate highly realistic acoustics for arbitrary sounds captured from…
Recent years have seen immense progress in 3D computer vision and computer graphics, with emerging tools that can virtualize real-world 3D environments for numerous Mixed Reality (XR) applications. However, alongside immersive visual…
Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…
Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…
About 20 percent of patients undergoing breast-conserving surgery require reoperation due to cancerous tissue remaining inside the breast. Breast cancer localization systems utilize auditory feedback to convey the distance between a…
This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…
This work introduces a feature extracted from stereophonic/binaural audio signals aiming to represent a measure of perceived quality degradation in processed spatial auditory scenes. The feature extraction technique is based on a simplified…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Perceptualizing tool interactions with deformable structures in surgical procedures remains challenging, as unimodal visualization techniques often fail to capture the complexity of these interactions due to constraints such as occlusion…
Audio perception is a key to solving a variety of problems ranging from acoustic scene analysis, music meta-data extraction, recommendation, synthesis and analysis. It can potentially also augment computers in doing tasks that humans do…
Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
In multimedia applications such as films and video games, spatial audio techniques are widely employed to enhance user experiences by simulating 3D sound: transforming mono audio into binaural formats. However, this process is often complex…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Developing embodied agents in simulation has been a key research topic in recent years. Exciting new tasks, algorithms, and benchmarks have been developed in various simulators. However, most of them assume deaf agents in silent…
The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…