相关论文: Sound Source Localization for Human-Robot Interact…

Sound source tracking is commonly performed using classical array-processing algorithms, while machine-learning approaches typically rely on precise source position labels that are expensive or impractical to obtain. This paper introduces a…

We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active…

The detection of anomalous sounds in machinery operation presents a significant challenge due to the difficulty in generalizing anomalous acoustic patterns. This task is typically approached as an unsupervised learning or novelty detection…

In the future robots will interact more and more with humans and will have to communicate naturally and efficiently. Automatic speech recognition systems (ASR) will play an important role in creating natural interactions and making robots…

A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…

In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…

In the field of structural health monitoring (SHM), the acquisition of acoustic emissions to localise damage sources has emerged as a popular approach. Despite recent advances, the task of locating damage within composite materials and…

Sound event detection and sound event localization requires different features from audio input signals. While sound event detection mainly relies on time-frequency patterns to distinguish different event classes, sound event localization…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

The present paper proposes a data-driven sensor selection method for a high-dimensional nondynamical system with strongly correlated measurement noise. The proposed method is based on proximal optimization and determines sensor locations by…

For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…

Recently, an end-to-end two-dimensional sound source localization algorithm with ad-hoc microphone arrays formulates the sound source localization problem as a classification problem. The algorithm divides the target indoor space into a set…

The propagation of sound in a shallow water environment is characterized by boundary reflections from the sea surface and sea floor. These reflections result in multiple (indirect) sound propagation paths, which can degrade the performance…

Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…

In this paper, we propose a method to estimate the proximity of an acoustic reflector, e.g., a wall, using ego-noise, i.e., the noise produced by the moving parts of a listening robot. This is achieved by estimating the times of arrival of…

In the realm of amateur radio, the effective classification of signals and the mitigation of noise play crucial roles in ensuring reliable communication. Traditional methods for signal classification and noise reduction often rely on manual…

The localization of sound sources by the human brain is computationally simulated from a neurobiological perspective. The simulation includes the neural representation of temporal differences in acoustic signals between the ipsilateral and…

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,…

This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…

Automatic Speech Recognition (ASR) systems in real-world settings need to handle imperfect audio, often degraded by hardware limitations or environmental noise, while accommodating diverse user groups. In human-robot interaction (HRI),…