3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM
| Autor: | Samuel Faucher, Dominic Létourneau, François Michaud, François Ferland, Simon Michaud, Mathieu Labbé, Francois Grondin, Jean-Samuel Lauzon |
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| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Microphone array geography Sound (cs.SD) geography.geographical_feature_category Microphone Computer science business.industry 02 engineering and technology Simultaneous localization and mapping Computer Science - Sound 030507 speech-language pathology & audiology 03 medical and health sciences 020901 industrial engineering & automation Audio and Speech Processing (eess.AS) FOS: Electrical engineering electronic engineering information engineering Computer vision Artificial intelligence 0305 other medical science business Sound (geography) Electrical Engineering and Systems Science - Audio and Speech Processing |
| Zdroj: | IROS |
| DOI: | 10.48550/arxiv.2007.11079 |
| Popis: | A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in real world settings, spatial correlation must be established. The approach explored in this paper consists of having two robots, each equipped with a microphone array, localizing themselves in a shared reference map using SLAM. Based on their locations, data from the microphone arrays are used to triangulate in 3D the location of a sound source in relation to the same map. This strategy results in a novel cooperative sound mapping approach using mobile microphone arrays. Trials are conducted using two mobile robots localizing a static or a moving sound source to examine in which conditions this is possible. Results suggest that errors under 0.3 m are observed when the relative angle between the two robots are above 30 degrees for a static sound source, while errors under 0.3 m for angles between 40 degrees and 140 degrees are observed with a moving sound source. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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