Journal ArticleDOI
Acoustic robot navigation using distributed microphone arrays
TLDR
A method for the navigation of a mobile robot using sound localization in the context of a robotic lab tour guide, which resulted in an average localization error of about 7 cm close to the array and 30 cm far away from the array.Citations
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Journal ArticleDOI
A Survey on Sound Source Localization in Robotics: from Binaural to Array Processing Methods
TL;DR: This paper attempts to provide a state-of-the-art of sound source localization in Robotics in a context raises original constraints--e.g. embeddability, real time, broad- band environments, noise and reverberation--which are seldom simultaneously taken into account in Acoustics or Signal Processing.
Journal ArticleDOI
Robust Recognition of Simultaneous Speech by a Mobile Robot
Jean-Marc Valin,Shun'ichi Yamamoto,Jean Rouat,François Michaud,Kazuhiro Nakadai,Hiroshi G. Okuno +5 more
TL;DR: In this article, the authors describe a system that gives a mobile robot the ability to perform automatic speech recognition with simultaneous speakers, where a microphone array is used along with a real-time implementation of geometric source separation (GSS) and a postfilter that gives further reduction of interference from other sources.
Journal ArticleDOI
Simultaneous Localization of a Mobile Robot and Multiple Sound Sources Using a Microphone Array
TL;DR: This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot and an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments.
Proceedings ArticleDOI
A New Method for Binaural 3-D Localization Based on Hrtfs
TL;DR: A modern technique for robotic sound source detection using a dataset head-related transfer functions (HRTFs) is presented and provides estimates of azimuth and elevation angles in free space by using only two microphones.
Journal ArticleDOI
2009 Special Issue: Robotic sound-source localisation architecture using cross-correlation and recurrent neural networks
TL;DR: Experimental results of the proposed model including the experimental methodology for testing sound-source localisation systems are described, showing how a hybrid architecture using band pass filtering, cross-correlation and recurrent neural networks can be used to develop a robust, accurate and fast sound- source localisation model for a mobile robot.
References
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Journal ArticleDOI
Computer-steered microphone arrays for sound transduction in large rooms
TL;DR: In this article, the authors describe a transducer system that discriminates against sound arrivals from all directions except for that of the desired source, using a two-dimensional array of microphones.
Proceedings ArticleDOI
A robust method for speech signal time-delay estimation in reverberant rooms
TL;DR: An alternative approach is detailed which reformulates the problem as a linear regression of phase data and then estimates the time-delay through minimization of a robust statistical error measure and is shown to be less susceptible to room reverberation effects.
Proceedings ArticleDOI
Using the CONDENSATION algorithm for robust, vision-based mobile robot localization
TL;DR: This paper presents a novel, vision-based localization method based on the CONDENSATION algorithm, a Bayesian filtering method that uses a sampling-based density representation to track the position of the camera platform rather than tracking an object in the scene.
Journal ArticleDOI
Real-time vision-based robot localization
S. Aitya,Gregory D. Hager +1 more
TL;DR: An algorithm for robot localization using visual landmarks is described, which determines both the correspondence between observed landmarks and a preloaded map, and the location of the robot from those correspondences.
Proceedings ArticleDOI
Preliminary results in range-only localization and mapping
George Kantor,Sanjiv Singh +1 more
TL;DR: Methods of localization using cooperating landmarks (beacons) that provide the ability to measure range only and can be used to solve the simultaneous localization and mapping problem (SLAM) when beacon locations are uncertain are presented.