Acoustic SLAM
Acoustic SLAM
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 three-dimensional (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. Moreover, 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 while 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.
1484 - 1498
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Naylor, Patrick
8c20a1a0-4507-4a0f-8324-f3075354dc52
September 2018
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Naylor, Patrick
8c20a1a0-4507-4a0f-8324-f3075354dc52
Evers, Christine and Naylor, Patrick
(2018)
Acoustic SLAM.
IEEE/ACM Transactions on Audio, Speech, and Language Processing, 26 (9), .
(doi:10.1109/TASLP.2018.2828321).
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 three-dimensional (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. Moreover, 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 while 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.
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Accepted/In Press date: 3 April 2018
e-pub ahead of print date: 18 April 2018
Published date: September 2018
Identifiers
Local EPrints ID: 437941
URI: http://eprints.soton.ac.uk/id/eprint/437941
ISSN: 2329-9304
PURE UUID: 57e7ea1d-f90a-4faf-90ec-ca8158cfa939
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Date deposited: 24 Feb 2020 17:31
Last modified: 17 Mar 2024 04:01
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Author:
Christine Evers
Author:
Patrick Naylor
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