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Acoustic SLAM

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Title: Acoustic SLAM
Authors: Evers, C
Naylor, PA
Item Type: Journal Article
Abstract: An algorithm is presented that enables devices equipped with microphones, such as robots, to move within their environment in order to explore, adapt to and interact with sound sources of interest. Acoustic scene mapping creates a 3D representation of the positional information of sound sources across time and space. In practice, positional source information is only provided by Direction-of-Arrival (DoA) estimates of the source directions; the source-sensor range is typically difficult to obtain. DoA estimates are also adversely affected by reverberation, noise, and interference, leading to errors in source location estimation and consequent false DoA estimates. Moroever, many acoustic sources, such as human talkers, are not continuously active, such that periods of inactivity lead to missing DoA estimates. Withal, the DoA estimates are specified relative to the observer's sensor location and orientation. Accurate positional information about the observer therefore is crucial. This paper proposes Acoustic Simultaneous Localization and Mapping (aSLAM), which uses acoustic signals to simultaneously map the 3D positions of multiple sound sources whilst passively localizing the observer within the scene map. The performance of aSLAM is analyzed and evaluated using a series of realistic simulations. Results are presented to show the impact of the observer motion and sound source localization accuracy.
Issue Date: 1-Sep-2018
Date of Acceptance: 3-Apr-2018
URI: http://hdl.handle.net/10044/1/58894
DOI: https://dx.doi.org/10.1109/TASLP.2018.2828321
ISSN: 1558-7916
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1484
End Page: 1498
Journal / Book Title: IEEE Transactions on Audio, Speech and Language Processing
Volume: 26
Issue: 9
Copyright Statement: © 2018 The Author(s). This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/.
Sponsor/Funder: Engineering & Physical Science Research Council (E
Funder's Grant Number: EP/P001017/1
Keywords: Science & Technology
Technology
Acoustics
Engineering, Electrical & Electronic
Engineering
Bayes methods
reverberation
robot audition
simultaneous localization and mapping
ROOM IMPULSE RESPONSES
SIMULTANEOUS LOCALIZATION
PERFORMANCE EVALUATION
MICROPHONE ARRAY
PARTICLE FILTERS
TRACKING
ALGORITHMS
MODELS
SIMULATION
TUTORIAL
Publication Status: Published
Online Publication Date: 2018-04-18
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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