Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani, Janan Zaytoon |
| Pages | 335-345 |
| Number of pages | 11 |
| ISBN (electronic) | 978-989-758-442-8 |
| Publication status | Published - 2020 |
| Event | 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2020 - online streaming Duration: 7 Jul 2020 → 9 Jul 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.
Keywords
- Interval analysis, Mobile robotics, Robot audition, Sound source mapping
ASJC Scopus subject areas
- Computer Science(all)
- Information Systems
- Engineering(all)
- Control and Systems Engineering
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Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin; Kurosh Madani; Janan Zaytoon. 2020. p. 335-345.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Interval-based Sound Source Mapping for Mobile Robots
AU - Rauschenberger, Axel
AU - Wagner, Bernardo
N1 - Publisher Copyright: Copyright © 2020 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
KW - Interval analysis
KW - Mobile robotics
KW - Robot audition
KW - Sound source mapping
UR - http://www.scopus.com/inward/record.url?scp=85090393520&partnerID=8YFLogxK
U2 - 10.5220/0009832803350345
DO - 10.5220/0009832803350345
M3 - Conference contribution
SP - 335
EP - 345
BT - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
A2 - Zaytoon, Janan
T2 - 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2020
Y2 - 7 July 2020 through 9 July 2020
ER -