相关论文: SonicBoom: Contact Localization Using Array of Mic…

The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…

A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…

This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…

Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…

Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers,…

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced…

We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have shown promising results with acoustic sensing for object…

Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least two spatially preconfigured microphones. This requirement…

Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…

Sound recognition is an important and popular function of smart devices. The location of sound is basic information associated with the acoustic source. Apart from sound recognition, whether the acoustic sources can be localized largely…

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…

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…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays to localize, track and separate sound sources online.…

Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…

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…

Identification and localization of sounds are both integral parts of computational auditory scene analysis. Although each can be solved separately, the goal of forming coherent auditory objects and achieving a comprehensive spatial scene…

We propose to use neural networks for simultaneous detection and localization of multiple sound sources in human-robot interaction. In contrast to conventional signal processing techniques, neural network-based sound source localization…

The ability to localize and track acoustic events is a fundamental prerequisite for equipping machines with the ability to be aware of and engage with humans in their surrounding environment. However, in realistic scenarios, audio signals…