Localization of Moving Microphone Arrays from Moving Sound Sources for Robot Audition

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Title: Localization of Moving Microphone Arrays from Moving Sound Sources for Robot Audition
Author(s): Evers, C
Moore, A
Naylor, P
Item Type: Conference Paper
Abstract: Acoustic Simultaneous Localization and Mapping (a-SLAM) jointly localizes the trajectory of a microphone array installed on a moving platform, whilst estimating the acoustic map of surrounding sound sources, such as human speakers. Whilst traditional approaches for SLAM in the vision and optical research literature rely on the assumption that the surrounding map features are static, in the acoustic case the positions of talkers are usually time-varying due to head rotations and body movements. This paper demonstrates that tracking of moving sources can be incorporated in a-SLAM by modelling the acoustic map as a Random Finite Set (RFS) of multiple sources and explicitly imposing models of the source dynamics. The proposed approach is verified and its performance evaluated for realistic simulated data.
Publication Date: 1-Dec-2016
Date of Acceptance: 16-Jun-2016
URI: http://hdl.handle.net/10044/1/38883
DOI: https://dx.doi.org/10.1109/EUSIPCO.2016.7760400
ISSN: 2076-1465
Publisher: IEEE
Journal / Book Title: Proc. European Signal Processing Conference (EUSIPCO)
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 609465
Conference Name: European Signal Processing Conference (EUSIPCO)
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.
Keywords: Science & Technology
Technology
Engineering, Electrical & Electronic
Engineering
Publication Status: Published
Start Date: 2016-08-29
Finish Date: 2016-08-29
Conference Place: Budapest, Hungary
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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