3D position sensing using the difference in the time-of-flights from a wave source to various receivers

Walworth, M.; Mahajan, Anupama

doi:10.1109/icar.1997.620245

Cited by 20 publications

(20 citation statements)

References 9 publications

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“…Valin et al [9] gave a simple solution for the linear equation in [8] the far field assumption. They have also developed a novel weighting function method to estimate the time delay.…”

Section: Introductionmentioning

confidence: 98%

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Estimation of sound source number and directions under a multi-source environment

Yang

Wang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Sound source localization is an important feature in robot audition. This work proposes a sound source number and directions estimation method by using the delay information of microphone array. An eigenstructure-based generalized cross correlation method is proposed to estimate time delay between microphones. Upon obtaining the time delay information, the sound source direction and velocity can be estimated by least square method. In multiple sound source case, the time delay combination among microphones is arranged such that the estimated sound speed value falls within an acceptable range. By accumulating the estimation results of sound source direction and using adaptive K-means++ algorithm, the sound source number and directions can be estimated.

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“…Valin et al [9] gave a simple solution for the linear equation in [8] the far field assumption. They have also developed a novel weighting function method to estimate the time delay.…”

Section: Introductionmentioning

confidence: 98%

“…Walworth et al [8] proposed a linear equation formulation for the estimation of the three-dimensional (3-D) position of a wave source based on the time delay values. Valin et al [9] gave a simple solution for the linear equation in [8] the far field assumption.…”

Section: Introductionmentioning

confidence: 99%

Estimation of sound source number and directions under a multi-source environment

Yang

Wang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…al. [14] presented a source linear equation similar with [13] to estimate the source location and velocity by using least square method. This paper presents a method of computing arrival delays of multiple sources by combining the idea of MUSIC and GCC.…”

Section: Introductionmentioning

confidence: 99%

“…al. [13] proposed a linear equation formulation for the estimation of the three-dimensional (3-D) position of a wave source based on the time delay values. Valin et.…”

Section: Introductionmentioning

confidence: 99%

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Simultaneous localization of mobile robot and multiple sound sources using microphone array

Chan

Wang

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments is described. A method to compute the far field source directions as well as the speed of sound using the estimated time delays is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearings-only SLAM procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown which is solved using FastSLAM. The experimental results demonstrate the effectiveness of the proposed approaches.

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Developing portable acoustic arrays on a large‐scale e‐textile substrate

Grant

Luthy

Muth

et al. 2004

International Journal of Clothing Science and Technology

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This research deals with the production of electronic textiles (e-textiles) demonstrators. Initially, the research dealt with the creation of 4 £ 5 microphone array on a large area conformal textile substrate. Once the interface electronics were connected to the 4 £ 5 microphone array, this system became an effective acoustic array. Here, a new acoustic eight microphone array design has been designed, fabricated and tested. Changes were made to improve microphone array performance, and to optimize the associated software for data capture and analysis. This new design was based on UC-Berkeley mote microcomputer technology. The mote-based system addresses the issue of scaling acoustic arrays, to allow for distributing microphones over large-areas, and to allow performance comparisons to be made with the original 4 £ 5 microphone acoustic array.

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3D position sensing using the difference in the time-of-flights from a wave source to various receivers

Cited by 20 publications

References 9 publications

Estimation of sound source number and directions under a multi-source environment

Estimation of sound source number and directions under a multi-source environment

Simultaneous localization of mobile robot and multiple sound sources using microphone array

Developing portable acoustic arrays on a large‐scale e‐textile substrate

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