Paper Info
Title
Discovery of sound sources by an autonomous mobile robot
Abstract
In this work, we describe an autonomous mobile robotic system for finding, investigating, and modeling ambient noise sources in the environment. The system has been fully implemented in two different environments, using two different robotic platforms and a variety of sound source types. Making use of a two-step approach to autonomous exploration of the auditory scene, the robot first quickly moves through the environment to find and roughly localize unknown sound sources using the auditory evidence grid algorithm. Then, using the knowledge gained from the initial exploration, the robot investigates each source in more depth, improving upon the initial localization accuracy, identifying volume and directivity, and, finally, building a classification vector useful for detecting the sound source in the future.
Year
DOI
Venue
2009
10.1007/s10514-009-9123-1
Auton. Robots
Keywords
Field
DocType
Mobile robot,Sound source localization,Audition,Microphone array
Robotic systems,Computer vision,Directivity,Computer science,Ambient noise level,Microphone array,Artificial intelligence,Robot,Mobile robot,Acoustic source localization,Grid
Journal
Volume
Issue
ISSN
27
3
0929-5593
Citations 
PageRank 
References 
9
0.61
20
Authors
2
Name
Order
Citations
PageRank
Eric Martinson112412.18
Alan C. Schultz21926278.11