相关论文: A Review on Sound Source Localization in Robotics:…

Sound source localization aims to seek the direction of arrival (DOA) of all sound sources from the observed multi-channel audio. For the practical problem of unknown number of sources, existing localization algorithms attempt to predict a…

Multi-source localization is an important and challenging technique for multi-talker conversation analysis. This paper proposes a novel supervised learning method using deep neural networks to estimate the direction of arrival (DOA) of all…

Despite there being clear evidence for top-down (e.g., attentional) effects in biological spatial hearing, relatively few machine hearing systems exploit top-down model-based knowledge in sound localisation. This paper addresses this issue…

This paper explores enabling large language models (LLMs) to understand spatial information from multichannel audio, a skill currently lacking in auditory LLMs. By leveraging LLMs' advanced cognitive and inferential abilities, the aim is to…

Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…

Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…

Deep learning models trained in a supervised setting have revolutionized audio and speech processing. However, their performance inherently depends on the quantity of human-annotated data, making them costly to scale and prone to poor…

The task of Visual Sound Source Localization (VSSL) involves identifying the location of sound sources in visual scenes, integrating audio-visual data for enhanced scene understanding. Despite advancements in state-of-the-art (SOTA) models,…

Inspired by the humans' cognitive ability to generalise knowledge and skills, Self-Supervised Learning (SSL) targets at discovering general representations from large-scale data without requiring human annotations, which is an expensive and…

Self-supervised learning (SSL) has grown in interest within the speech processing community, since it produces representations that are useful for many downstream tasks. SSL uses global and contextual methods to produce robust…

From a machine learning perspective, the human ability localize sounds can be modeled as a non-parametric and non-linear regression problem between binaural spectral features of sound received at the ears (input) and their sound-source…

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…

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…

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…

Audio deepfake model attribution aims to mitigate the misuse of synthetic speech by identifying the source model responsible for generating a given audio sample, enabling accountability and informing vendors. The task is challenging, but…

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.…

Localizing a moving sound source in the real world involves determining its direction-of-arrival (DOA) and distance relative to a microphone. Advancements in DOA estimation have been facilitated by data-driven methods optimized with large…

With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…

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…

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…