Interval-based Sound Source Mapping for Mobile Robots

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OriginalspracheEnglisch
Titel des Sammelwerks Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
Herausgeber/-innenOleg Gusikhin, Kurosh Madani, Janan Zaytoon
Seiten335-345
Seitenumfang11
ISBN (elektronisch) 978-989-758-442-8
PublikationsstatusVeröffentlicht - 2020
Veranstaltung17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2020 - online streaming
Dauer: 7 Juli 20209 Juli 2020

Abstract

Auditory information can expand the knowledge of the environment of a mobile robot. Therefore, assigning sound sources to a global map is an important task. In this paper, we first form a relationship between the microphone positions and auditory features extracted from the microphone signals to describe the 3D position of multiple static sound sources. Next, we form a Constraint Satisfaction Problem (CSP), which links all observations from different measurement positions. Classical approaches approximate these non-linear system of equations and require a good initial guess. In contrast, in this work, we solve these equations by using interval analysis in less computational effort. This enables the calculation being performed on the hardware of a robot at run time. Next, we extend the approach to model uncertainties of the microphone positions and the auditory features extracted by the microphones making the approach more robust in real applications. Last, we demonstrate the functionality of our approach by using simulated and real data.

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Interval-based Sound Source Mapping for Mobile Robots. / Rauschenberger, Axel; Wagner, Bernardo.
Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. Hrsg. / Oleg Gusikhin; Kurosh Madani; Janan Zaytoon. 2020. S. 335-345.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Rauschenberger, A & Wagner, B 2020, Interval-based Sound Source Mapping for Mobile Robots. in O Gusikhin, K Madani & J Zaytoon (Hrsg.), Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. S. 335-345, 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2020, 7 Juli 2020. https://doi.org/10.5220/0009832803350345
Rauschenberger, A., & Wagner, B. (2020). Interval-based Sound Source Mapping for Mobile Robots. In O. Gusikhin, K. Madani, & J. Zaytoon (Hrsg.), Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics (S. 335-345) https://doi.org/10.5220/0009832803350345
Rauschenberger A, Wagner B. Interval-based Sound Source Mapping for Mobile Robots. in Gusikhin O, Madani K, Zaytoon J, Hrsg., Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. 2020. S. 335-345 doi: 10.5220/0009832803350345
Rauschenberger, Axel ; Wagner, Bernardo. / Interval-based Sound Source Mapping for Mobile Robots. Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. Hrsg. / Oleg Gusikhin ; Kurosh Madani ; Janan Zaytoon. 2020. S. 335-345
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