Creation of radiated sound intensity maps using multi-modal measurements onboard an autonomous mobile platform

Even, Jani; Kallakuri, Nagasrikanth; Morales, Yoichi; Ishi, Carlos Toshinori; Hagita, Norihiro

doi:10.1109/iros.2013.6696845

Cited by 6 publications

(4 citation statements)

References 11 publications

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“…An alternative acoustic mapping approach was proposed in [219], where radiated sound intensities are estimated instead of occupancy probabilities. Similar to [218], cells in which possible sound sources are located are identified by matching DOA measurements with objects in the scene recognized by an onboard LIDAR sensor.…”

Section: ) Localization and Mappingmentioning

confidence: 99%

Acoustic Self-Awareness of Autonomous Systems in a World of Sounds

2020

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Section: ) Localization and Mappingmentioning

confidence: 99%

Acoustic Self-Awareness of Autonomous Systems in a World of Sounds

2020

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“…These applications generally consider microphone(s) array setups for more robustness. In this context, controlling robot motions can be used for instance in acoustic monitoring [1] or in searchand-rescue missions where emergency signal can be detected and approached [2]. In human-robot interaction (HRI), motion control gives more naturalness to the interaction (e.g., gazing towards the speaker [3]) or can be used to improve the interaction (e.g., approaching a speaker to hear "better").…”

Section: Introductionmentioning

confidence: 99%

“…In human-robot interaction (HRI), motion control gives more naturalness to the interaction (e.g., gazing towards the speaker [3]) or can be used to improve the interaction (e.g., approaching a speaker to hear "better"). Sound localization can also be used as a modality of robot 1 Univ Rennes, Inria, CNRS, IRISA, Campus de Beaulieu, 35042 Rennes, France. aly.magassouba@irisa.fr 2 CNRS, Univ Rennes, Inria, IRISA Campus de Beaulieu, 35042 Rennes, France.…”

Section: Introductionmentioning

confidence: 99%

Aural Servo: Sensor-Based Control From Robot Audition

2018

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This paper proposes a control framework based on auditory perception. Generally, in robot audition, the motion control of a robot from the sense of hearing relies on sound source localization. We propose in this paper an alternative approach, aural servo, that is derived from the sensor-based control framework. In this approach, robot motions are directly connected to the aural perception: the variation of low-level auditory features dictates the motions applied to the robot through a feedback loop. It has the advantage of being robust to spurious measurements and modeling approximations for a low computational cost. This paper presents the theoretical concept of the aural servo framework. Besides a theoretical analysis, the aural servo framework is validated through several experiments on different robotic platforms and under real-world conditions.

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“…Researches of acoustic surveillance by mobile robots can be found in the context of ground vehicles; e.g. Sasaki [1] proposed to utilize large scale microphone array and a mobile platform to localize multiple sound sources in the environment utilizing triangulation, and Even [2] developed a system to map the sound intensity of the given environment by a mobile robot with the laser scanned structure information. Authors [3] also 1 Takahiro Ishiki and Makoto Kumon proposed to drive a mobile cart based on the correlation matrix of EKF for the sound source localization.…”

Section: Introductionmentioning

confidence: 99%

Design model of microphone arrays for multirotor helicopters

Ishiki

Kumon

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Unmanned multirotor helicopters have been expected for various critical tasks such as rescue missions, and it is important to sense the environment to achieve those tasks. In order to realize such sensor systems, this paper considers acoustic information recognition from a hovering helicopter which a microphone array system. As the noise of rotors distorts the acoustic information, noise reduction is necessary. Since the rotor noise varies even at the hovering flight, an acoustic model of the rotor noise is derived taking the dynamics of the helicopter into account, and the model is utilized to evaluate the performance of the microphone array. The proposed approach was verified by evaluating the optimality of a real device that was empirically tuned in authors previous work, and the computed configuration of the microphone array and the developed one coincide well, which ensures the validity of the approach. As the validation through a practical application, the signal was processed by Delay-and-Sum Beam Former to localize the sound source. The system was able to find peaks of the power that corresponded to the sound source.

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Creation of radiated sound intensity maps using multi-modal measurements onboard an autonomous mobile platform

Cited by 6 publications

References 11 publications

Acoustic Self-Awareness of Autonomous Systems in a World of Sounds

Acoustic Self-Awareness of Autonomous Systems in a World of Sounds

Aural Servo: Sensor-Based Control From Robot Audition

Design model of microphone arrays for multirotor helicopters

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