Towards Informative Path Planning for Acoustic SLAM
File(s)
Published version
Author(s)
Evers, C
Moore, A
Naylor, P
Type
Conference Paper
Abstract
Acoustic scene mapping is a challenging task as microphone
arrays can often localize sound sources only in
terms of their directions. Spatial diversity can be exploited
constructively to infer source-sensor range when
using microphone arrays installed on moving platforms,
such as robots. As the absolute location of a moving robot
is often unknown in practice, Acoustic Simultaneous
Localization And Mapping (a-SLAM) is required in order
to localize the moving robot’s positions and jointly
map the sound sources. Using a novel a-SLAM approach,
this paper investigates the impact of the choice of robot
paths on source mapping accuracy. Simulation results demonstrate
that a-SLAM performance can be improved by
informatively planning robot paths.
arrays can often localize sound sources only in
terms of their directions. Spatial diversity can be exploited
constructively to infer source-sensor range when
using microphone arrays installed on moving platforms,
such as robots. As the absolute location of a moving robot
is often unknown in practice, Acoustic Simultaneous
Localization And Mapping (a-SLAM) is required in order
to localize the moving robot’s positions and jointly
map the sound sources. Using a novel a-SLAM approach,
this paper investigates the impact of the choice of robot
paths on source mapping accuracy. Simulation results demonstrate
that a-SLAM performance can be improved by
informatively planning robot paths.
Date Issued
2016-03-14
Date Acceptance
2016-01-13
Citation
Proc. DAGA
Journal / Book Title
Proc. DAGA
Copyright Statement
© The Authors
Sponsor
Commission of the European Communities
Grant Number
609465
Source
DAGA 2016
Start Date
2016-03-14
Finish Date
2016-03-17
Coverage Spatial
Aachen, Germany