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Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers

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Title: Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers
Author(s): Evers, C
Moore, AH
Naylor, PA
Item Type: Conference Paper
Abstract: Acoustic scene mapping creates a representation of positions of audio sources such as talkers within the surrounding environment of a microphone array. By allowing the array to move, the acoustic scene can be explored in order to improve the map. Furthermore, the spatial diversity of the kinematic array allows for estimation of the source-sensor distance in scenarios where source directions of arrival are measured. As sound source localization is performed relative to the array position, mapping of acoustic sources requires knowledge of the absolute position of the microphone array in the room. If the array is moving, its absolute position is unknown in practice. Hence, Simultaneous Localization and Mapping (SLAM) is required in order to localize the microphone array position and map the surrounding sound sources. In realistic environments, microphone arrays receive a convolutive mixture of direct-path speech signals, noise and reflections due to reverberation. A key challenge of Acoustic SLAM (a-SLAM) is robustness against reverberant clutter measurements and missing source detections. This paper proposes a novel bearing-only a-SLAM approach using a Single-Cluster Probability Hypothesis Density filter. Results demonstrate convergence to accurate estimates of the array trajectory and source positions.
Publication Date: 20-Mar-2016
Date of Acceptance: 1-Jan-2016
URI: http://hdl.handle.net/10044/1/38877
DOI: http://dx.doi.org/10.1109/ICASSP.2016.7471626
ISBN: 9781479999880
ISSN: 1520-6149
Publisher: IEEE
Start Page: 6
End Page: 10
Journal / Book Title: Proceedings of the 2016 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 609465
Conference Name: 2016 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publication Status: Published
Start Date: 2016-03-20
Finish Date: 2016-03-25
Conference Place: Shanghai, China
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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