相关论文: SonicBoom: Contact Localization Using Array of Mic…
A soundscape is defined by the acoustic environment a person perceives at a location. In this work, we propose a framework for mapping soundscapes across the Earth. Since soundscapes involve sound distributions that span varying spatial…
We investigated, by using auditory models, how three perceptual parameters, loudness, pitch and sharpness, determine human echolocation. We used acoustic recordings from two previous studies, both from stationary situations, and their…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…
This paper presents a successful application of deep learning for object recognition based on acoustic data. The shortcomings of previously employed approaches where handcrafted features describing the acoustic data are being used, include…
This paper considers the problem of simultaneous 2-D room shape reconstruction and self-localization without the requirement of any pre-established infrastructure. A mobile device equipped with co-located microphone and loudspeaker as well…
In this paper, we propose to apply object detection methods from the vision domain on the speech recognition domain, by treating audio fragments as objects. More specifically, we present SpeechYOLO, which is inspired by the YOLO algorithm…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Humans do not acquire perceptual abilities in the way we train machines. While machine learning algorithms typically operate on large collections of randomly-chosen, explicitly-labeled examples, human acquisition relies more heavily on…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…
Accurately localizing 3D sound sources and estimating their semantic labels -- where the sources may not be visible, but are assumed to lie on the physical surface of objects in the scene -- have many real applications, including detecting…
Significant progress has been made in open-vocabulary mobile manipulation, where the goal is for a robot to perform tasks in any environment given a natural language description. However, most current systems assume a static environment,…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
We study the problem of localizing a configuration of points and planes from the collection of point-to-plane distances. This problem models simultaneous localization and mapping from acoustic echoes as well as the notable "structure from…
Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior methods are often tailored to specific environments, relying on…
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This paper studies robot arm action recognition in noisy…
Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…
Locating objects for the visually impaired is a significant challenge and is something no one can get used to over time. However, this hinders their independence and could push them towards risky and dangerous scenarios. Hence, in the…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…