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

How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired…

Noise pollution investigation takes advantage of two common methods of diagnosis: measurement using a Sound Level Meter and acoustical imaging. The former enables a detailed analysis of the surrounding noise spectrum whereas the latter is…

In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping…

This paper presents a novel approach for indoor acoustic source localization using microphone arrays and based on a Convolutional Neural Network (CNN). The proposed solution is, to the best of our knowledge, the first published work in…

Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…

Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…

Truly intelligent agents need to capture the interplay of all their senses to build a rich physical understanding of their world. In robotics, we have seen tremendous progress in using visual and tactile perception; however, we have often…

This paper introduces a new approach to sound source localization using head-related transfer function (HRTF) characteristics, which enable precise full-sphere localization from raw data. While previous research focused primarily on using…

Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…

As humans, we hear sound every second of our life. The sound we hear is often affected by the acoustics of the environment surrounding us. For example, a spacious hall leads to more reverberation. Room Impulse Responses (RIR) are commonly…

Binaural acoustic source localization is important to human listeners for spatial awareness, communication and safety. In this paper, an end-to-end binaural localization model for speech in noise is presented. A lightweight convolutional…

Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especially when fabricated with tight tolerances. In this work, we…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…

While 3D Gaussian representations (3DGS) have proven effective for modeling the geometry and appearance of objects, their potential for capturing other physical attributes-such as sound-remains largely unexplored. In this paper, we present…

In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…

Sound event localization aims at estimating the positions of sound sources in the environment with respect to an acoustic receiver (e.g. a microphone array). Recent advances in this domain most prominently focused on utilizing deep…

While 3D human body modeling has received much attention in computer vision, modeling the acoustic equivalent, i.e. modeling 3D spatial audio produced by body motion and speech, has fallen short in the community. To close this gap, we…

Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…

Current research in robotic sounds generally focuses on either masking the consequential sound produced by the robot or on sonifying data about the robot to create a synthetic robot sound. We propose to capture, modify, and utilise rather…