Details
| Original language | English |
|---|---|
| Number of pages | 24 |
| ISBN (electronic) | 978-3-030-92442-3 |
| Publication status | Published - 1 Jan 2022 |
Publication series
| Name | Lecture Notes in Electrical Engineering |
|---|---|
| Volume | 793 |
| ISSN (Print) | 1876-1100 |
| ISSN (electronic) | 1876-1119 |
Abstract
The knowledge about the 3D position of sound sources can expand the model of the environment used by a mobile robot. To describe the 3D position of multiple sound sources, we form a relationship between the extracted auditory features from the microphone signals and the microphones’ position. To link all observations from different measurement positions, we form a Constraint Satisfaction Problem (CSP). In this work interval analysis is used to solve these equations. Compared to classical approaches, which calculate an approximation of this non-linear system of equations and require a good initial guess, our approach consumes less computation effort. As a benefit, our approach enables the calculation at run time on the hardware of a robot. To increase our method’s robustness for real applications, we extended the approach to model the uncertainties of the auditory features and the microphone positions using interval-based methods. For the extraction of the auditory features, we developed two methods. The first method is based on the direction estimations of state-of-the-art approaches. In contrast, the second method - Interval-Based Time Difference (InTiD) - is directly using interval-based methods on the microphones’ acoustics signals. Finally, by using simulated and real data, we demonstrate the functionality of our Interval-Based Sound Source Mapping (IB-SSM).
Keywords
- robot audtion, sound source mapping, interval analysis, Interval analysis, Mobile robotics, Sound source mapping, Robot audition
ASJC Scopus subject areas
- Engineering(all)
- Industrial and Manufacturing Engineering
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2022. 24 p. (Lecture Notes in Electrical Engineering; Vol. 793).
Research output: Book/Report › Conference proceeding › Research › peer review
}
TY - BOOK
T1 - 3D Sound Source Mapping using Interval-based Methods
AU - Rauschenberger, Axel
AU - Wagner, Bernardo
PY - 2022/1/1
Y1 - 2022/1/1
N2 - The knowledge about the 3D position of sound sources can expand the model of the environment used by a mobile robot. To describe the 3D position of multiple sound sources, we form a relationship between the extracted auditory features from the microphone signals and the microphones’ position. To link all observations from different measurement positions, we form a Constraint Satisfaction Problem (CSP). In this work interval analysis is used to solve these equations. Compared to classical approaches, which calculate an approximation of this non-linear system of equations and require a good initial guess, our approach consumes less computation effort. As a benefit, our approach enables the calculation at run time on the hardware of a robot. To increase our method’s robustness for real applications, we extended the approach to model the uncertainties of the auditory features and the microphone positions using interval-based methods. For the extraction of the auditory features, we developed two methods. The first method is based on the direction estimations of state-of-the-art approaches. In contrast, the second method - Interval-Based Time Difference (InTiD) - is directly using interval-based methods on the microphones’ acoustics signals. Finally, by using simulated and real data, we demonstrate the functionality of our Interval-Based Sound Source Mapping (IB-SSM).
AB - The knowledge about the 3D position of sound sources can expand the model of the environment used by a mobile robot. To describe the 3D position of multiple sound sources, we form a relationship between the extracted auditory features from the microphone signals and the microphones’ position. To link all observations from different measurement positions, we form a Constraint Satisfaction Problem (CSP). In this work interval analysis is used to solve these equations. Compared to classical approaches, which calculate an approximation of this non-linear system of equations and require a good initial guess, our approach consumes less computation effort. As a benefit, our approach enables the calculation at run time on the hardware of a robot. To increase our method’s robustness for real applications, we extended the approach to model the uncertainties of the auditory features and the microphone positions using interval-based methods. For the extraction of the auditory features, we developed two methods. The first method is based on the direction estimations of state-of-the-art approaches. In contrast, the second method - Interval-Based Time Difference (InTiD) - is directly using interval-based methods on the microphones’ acoustics signals. Finally, by using simulated and real data, we demonstrate the functionality of our Interval-Based Sound Source Mapping (IB-SSM).
KW - robot audtion
KW - sound source mapping
KW - interval analysis
KW - Interval analysis
KW - Mobile robotics
KW - Sound source mapping
KW - Robot audition
UR - http://www.scopus.com/inward/record.url?scp=85122493791&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-92442-3_22
DO - 10.1007/978-3-030-92442-3_22
M3 - Conference proceeding
SN - 978-3-030-92441-6
T3 - Lecture Notes in Electrical Engineering
BT - 3D Sound Source Mapping using Interval-based Methods
ER -