Name
Title | ||
|---|---|---|
Probabilistic 3D Sound Source Mapping System Based on Monte Carlo Localization Using Microphone Array and LIDAR. |
Abstract | ||
|---|---|---|
The study proposes a probabilistic 3D sound source mapping system for a moving sensor unit. A microphone array is used for sound source localization and tracking based on the multiple signal classification (MUSIC) algorithm and a multiple-target tracking algorithm. Laser imaging detection and ranging (LIDAR) is used to generate a 3D geometric map and estimate the location of its six-degrees-of-freedom (6 DoF) using the state-of-the-art gyro-integrated iterative closest point simultaneous localization and mapping (G-ICP SLAM) method. Combining these modules provides sound detection in 3D global space for a moving robot. The sound position is then estimated using Monte Carlo localization from the time series of a tracked sound stream. The results of experiments using the hand-held sensor unit indicate that the method is effective for arbitrary motions of the sensor unit in environments with multiple sound sources. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.20965/jrm.2017.p0094 | JOURNAL OF ROBOTICS AND MECHATRONICS |
Keywords | Field | DocType |
sound source mapping,microphone array,3D LIDAR,robot audition | Computer vision,Computer science,Microphone array,Robot audition,Lidar,Artificial intelligence,Probabilistic logic,Monte Carlo localization | Journal |
Volume | Issue | ISSN |
29 | 1 | 0915-3942 |
Citations | PageRank | References |
1 | 0.34 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ryo Tanabe | 1 | 14 | 4.78 |
| Yoko Sasaki | 2 | 82 | 15.66 |
| Hiroshi Takemura | 3 | 11 | 9.62 |