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Języki publikacji
Abstrakty
This paper presents the use of auditory occupancy grids (AOGs) for mapping of a mobile robot’s acoustic environment. An AOG is a probabilistic map of sound source locations built from multiple measurements using techniques from both probabilistic robotics and sound localization. The mapping is simulated, tested for robustness, and then successfully implemented on a threemicrophone mobile robot with four sound sources. Using the robot’s inherent advantage of mobility, the AOG correctly locates the sound sources from only nine measurements. The resulting map is then used to intelligently position the robot within the environment and to maintain auditory contact with a moving target.
Słowa kluczowe
Rocznik
Tom
Strony
3--12
Opis fizyczny
Bibliogr. 31 poz., rys.
Twórcy
autor
- Central Michigan University, Mount Pleasant, MI 48859, USA, b.dejong@cmich.edu
Bibliografia
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- [2] Martinson E., Arkin R., “Noise maps for acoustically sensitive navigation”. In: Society of Photo-Optical Instrumentation Engineers, 2004.
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- [6] Thrun S., “Learning occupancy grid maps with forward sensor models”, Autonomous Robots, vol. 15, no. 2, 2003.
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- [13] Valin J.-M., Michaud F., Rouat J., “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering”, Robotics and Autonomous Systems, vol. 55, no. 3, 2007.
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- [22] Nakadai K., Matsuura D., Okuno H., Kitano H., “Applying scattering theory to robot audition system: Robust sound source localization and extraction”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.
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Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BUJ8-0016-0013