相关论文: SonicBoom: Contact Localization Using Array of Mic…
Natural language interfaces can simplify interaction with multi-robot systems, especially when non-expert users need to issue high-level commands. Acoustic manipulation using ultrasonic phased arrays also enables contactless object handling…
Humans are able to localize objects in the environment using both visual and auditory cues, integrating information from multiple modalities into a common reference frame. We introduce a system that can leverage unlabeled audio-visual data…
Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…
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…
Acoustic scene perception involves describing the type of sounds, their timing, their direction and distance, as well as their loudness and reverberation. While audio language models excel in sound recognition, single-channel input…
In this paper, we propose an effective and robust method of spatial feature extraction for acoustic scene analysis utilizing partially synchronized and/or closely located distributed microphones. In the proposed method, a new cepstrum…
Leveraging temporal synchronization and association within sight and sound is an essential step towards robust localization of sounding objects. To this end, we propose a space-time memory network for sounding object localization in videos.…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Multiple moving sound source localization in real-world scenarios remains a challenging issue due to interaction between sources, time-varying trajectories, distorted spatial cues, etc. In this work, we propose to use deep learning…
In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…
In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds…
The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…
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…
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…
We consider the problem of audio voice separation for binaural applications, such as earphones and hearing aids. While today's neural networks perform remarkably well (separating $4+$ sources with 2 microphones) they assume a known or fixed…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
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…
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…