Estimation of a nonvisible field-of-view mobile target incorporating optical and acoustic sensors

Abstract

This paper presents a nonvisible field-of-view (NFOV) target estimation approach that incorporates optical and acoustic sensors. An optical sensor can accurately localize a target in its field-of-view whereas the acoustic sensor could estimate the target location over a much larger space, but only with limited accuracy. A recursive Bayesian estimation framework where observations of the optical and acoustic sensors are probabilistically treated and fused is proposed in this paper. A technique to construct the observation likelihood when two microphones are used as the acoustic sensor is also described. The proposed technique derives and stores the interaural level difference of observations from the two microphones for different target positions in advance and constructs the likelihood through correlation. A parametric study of the proposed acoustic sensing technique in a controlled test environment, and experiments with an NFOV target in an actual indoor environment are presented to demonstrate the capability of the proposed technique. B Kuya Takami

Robotics Perception and Control: Key Technologies and Applications

“…Nevertheless, it requires further upgrades to withstand harsher conditions, such as polar regions, and its applicability in other settings, like medical institutions and smart factories, needs further verification. Takami et al [42] proposed a method to estimate moving targets in an invisible field of view containing optical and acoustic sensors. Applying a recursive Bayesian estimation framework, they probabilistically processed and fused observation data from optical and acoustic sensors.…”

“…Estimating Invisible Moving Targets [42] Performs well across all time-steps; suitable for a variety of practical applications.…”

“…Sound Sensors [3,38,39,[41][42][43]45] High precision, low cost, easy deployment, excellent compactness, and reliability.…”

Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

“…Furthermore, in the case of multiple similar parts or similar local tactile features, the concept of observable regions [66] could be introduced as suggested in our previous work on visual and touch-based sensing [57]. It states that the tactile update shall only be done for reachable samples, i.e., samples that can potentially be touched within a motion step.…”