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

This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…

Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…

This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…

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 neural networks have recently led to promising results for the task of multiple sound source localization. Yet, they require a lot of training data to cover a variety of acoustic conditions and microphone array layouts. One can…

Spatial audio has become central to immersive applications such as VR/AR, cinema, and music. Existing generative audio models are largely limited to mono or stereo formats and cannot capture the full 3D localization cues available in…

Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…

Systematic evaluation of speech separation and enhancement models under moving sound source conditions requires extensive and diverse data. However, real-world datasets often lack sufficient data for training and evaluation, and synthetic…

Audiovisual scenes are pervasive in our daily life. It is commonplace for humans to discriminatively localize different sounding objects but quite challenging for machines to achieve class-aware sounding objects localization without…

Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…

Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

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…

Algorithms for acoustic source localization and tracking provide estimates of the positional information about active sound sources in acoustic environments and are essential for a wide range of applications such as personal assistants,…

Underwater acoustic localization has traditionally been challenging due to the presence of unknown environmental structure and dynamic conditions. The problem is richer still when such structure includes occlusion, which causes the loss of…

Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security…

Deep learning-based sound event localization and classification is an emerging research area within wireless acoustic sensor networks. However, current methods for sound event localization and classification typically rely on a single…

The hype about sensorimotor learning is currently reaching high fever, thanks to the latest advancement in deep learning. In this paper, we present an open-source framework for collecting large-scale, time-synchronised synthetic data from…

Sound sources localization using multichannel signal processing has been a subject of active research for decades. In recent years, the use of deep learning in audio signal processing has allowed to drastically improve performances for…

Human and/or asset tracking using an attached sensor units helps understand their activities. Most common indoor localization methods for human tracking technologies require expensive infrastructures, deployment and maintenance. To overcome…