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Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers

Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers
Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers

Acoustic scene mapping creates a representation of positions of audio sources such as talkers within the surrounding environment of a microphone array. By allowing the array to move, the acoustic scene can be explored in order to improve the map. Furthermore, the spatial diversity of the kinematic array allows for estimation of the source-sensor distance in scenarios where source directions of arrival are measured. As sound source localization is performed relative to the array position, mapping of acoustic sources requires knowledge of the absolute position of the microphone array in the room. If the array is moving, its absolute position is unknown in practice. Hence, Simultaneous Localization and Mapping (SLAM) is required in order to localize the microphone array position and map the surrounding sound sources. In realistic environments, microphone arrays receive a convolutive mixture of direct-path speech signals, noise and reflections due to reverberation. A key challenge of Acoustic SLAM (a-SLAM) is robustness against reverberant clutter measurements and missing source detections. This paper proposes a novel bearing-only a-SLAM approach using a Single-Cluster Probability Hypothesis Density filter. Results demonstrate convergence to accurate estimates of the array trajectory and source positions.

Acoustic scene mapping, Acoustic Simultaneous Localization and Mapping, Moving microphone arrays
1520-6149
6-10
Institute of Electrical and Electronics Engineers Inc.
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Moore, Alastair H.
58d011fd-6a02-449a-9b77-651e8c86166e
Naylor, Patrick A.
13079486-664a-414c-a1a2-01a30bf0997b
Evers, Christine
93090c84-e984-4cc3-9363-fbf3f3639c4b
Moore, Alastair H.
58d011fd-6a02-449a-9b77-651e8c86166e
Naylor, Patrick A.
13079486-664a-414c-a1a2-01a30bf0997b

Evers, Christine, Moore, Alastair H. and Naylor, Patrick A. (2016) Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers. In 2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings. vol. 2016-May, Institute of Electrical and Electronics Engineers Inc. pp. 6-10 . (doi:10.1109/ICASSP.2016.7471626).

Record type: Conference or Workshop Item (Paper)

Abstract

Acoustic scene mapping creates a representation of positions of audio sources such as talkers within the surrounding environment of a microphone array. By allowing the array to move, the acoustic scene can be explored in order to improve the map. Furthermore, the spatial diversity of the kinematic array allows for estimation of the source-sensor distance in scenarios where source directions of arrival are measured. As sound source localization is performed relative to the array position, mapping of acoustic sources requires knowledge of the absolute position of the microphone array in the room. If the array is moving, its absolute position is unknown in practice. Hence, Simultaneous Localization and Mapping (SLAM) is required in order to localize the microphone array position and map the surrounding sound sources. In realistic environments, microphone arrays receive a convolutive mixture of direct-path speech signals, noise and reflections due to reverberation. A key challenge of Acoustic SLAM (a-SLAM) is robustness against reverberant clutter measurements and missing source detections. This paper proposes a novel bearing-only a-SLAM approach using a Single-Cluster Probability Hypothesis Density filter. Results demonstrate convergence to accurate estimates of the array trajectory and source positions.

Full text not available from this repository.

More information

Published date: 18 May 2016
Venue - Dates: 41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016, , Shanghai, China, 2016-03-20 - 2016-03-25
Keywords: Acoustic scene mapping, Acoustic Simultaneous Localization and Mapping, Moving microphone arrays

Identifiers

Local EPrints ID: 446050
URI: http://eprints.soton.ac.uk/id/eprint/446050
ISSN: 1520-6149
PURE UUID: 5f4613f1-8f6d-4cac-ab25-f7d000203e64
ORCID for Christine Evers: ORCID iD orcid.org/0000-0003-0757-5504

Catalogue record

Date deposited: 19 Jan 2021 17:33
Last modified: 18 Feb 2021 17:41

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