Indoor sound field feature matching for robot’s location and orientation detection

Hu, Jwu‐Sheng; Liu, Wei‐Han; Cheng, Chieh-Cheng

doi:10.1016/j.patrec.2007.09.007

Cited by 2 publications

(2 citation statements)

References 21 publications

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“…However, under rich reverberant environment or no line-of-sight between the source and microphone array, reflection on boundary or sound scattering obstruct the system from directly locating the acoustic source. In [7,19], this problem was addressed by matching of ITD and ILD features between the microphone pair. Liu et al proposed the use of ITD and binaural signal processing scheme to extract directional acoustic information [20].…”

Section: A Review On Acoustic Source Localizationmentioning

confidence: 99%

Speaker tracking module for indoor robot navigation

Teachasrisaksakul

Iemcha-od

Thiemjarus

et al. 2012

2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolog

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The goal of this study is to equip a mobile service robot with an ability to navigate to the human who commands the robot by speech. This paper proposes a Bayesian approach to sound source localization for speaker tracking module. Based on time delay of arrival (TDOA) features, sound source direction is classified using a naïve Bayesian network. The method requires low computational complexity and is feasible for real-time robot navigation. Based on an experiment with various parameter settings in an indoor environment, different factors that affect the classification accuracy have been analyzed. Further validation on a human speaker with random sound volumes and positions illustrates that the proposed method can work efficiently in real-world environments.

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Section: A Review On Acoustic Source Localizationmentioning

confidence: 99%

Speaker tracking module for indoor robot navigation

Teachasrisaksakul

Iemcha-od

Thiemjarus

et al. 2012

2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolog

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“…Tseng et al presented an image-guided robotic navigation system for neurosurgery, which could be applied to guide surgical instruments to the preplanned position and orientation [6]. Hu et al proposed an indoor sound field feature matching method to detect a mobile robot's location and orientation [7]. The sound field feature, captured from a sound source to a pair of microphones, contained the dynamic of the propagation path.…”

Section: Introductionmentioning

confidence: 99%

Autonomous spatial orientation of robots using chaotic cognition and geometric cues

Sun

Liu

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this paper an innovative methodology for geometrical orientation and robot control is proposed. The innovative method exploits the use of multisensory integration applied to a chaotic cognitive system for a mobile robot which is able to be controlled in real-time towards less complex orbits, such as periodic orbits or equilibrium points, considered as perceptive orbits. The strategy is inspired by the olfactory bulb neural activity observed in rabbits subjected to external stimuli. These are subject to real-time modifications on the basis of environmental changes acquired through a distributed sensory system. The mathematical details of the approach are given including simulation results in different geometric environments. The obtained results also demonstrate the significant impact of different geometric cues on reorientation performance as well as spatial updating performance for autonomous robots. Furthermore, the robot's reorientation performance is approximately inversely proportional to the rotational symmetry of the environment, whereas the spatial updating performance is equally good in angular environments but worse in a circular environment.

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Indoor sound field feature matching for robot’s location and orientation detection

Cited by 2 publications

References 21 publications

Speaker tracking module for indoor robot navigation

Speaker tracking module for indoor robot navigation

Autonomous spatial orientation of robots using chaotic cognition and geometric cues

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