loading
Papers Papers/2020

Research.Publish.Connect.

Paper

Authors: Axel Rauschenberger and Bernardo Wagner

Affiliation: Real-Time Systems Group (RTS), Institute for Systems Engineering, Leibniz Universität Hannover, Appelstraße 9A, D-30167, Hannover, Germany

Keyword(s): Mobile Robotics, Sound Source Mapping, Robot Audition, Interval Analysis.

Abstract: Auditory information can expand the knowledge of the environment of a mobile robot. Therefore, assigning sound sources to a global map is an important task. In this paper, we first form a relationship between the microphone positions and auditory features extracted from the microphone signals to describe the 3D position of multiple static sound sources. Next, we form a Constraint Satisfaction Problem (CSP), which links all observations from different measurement positions. Classical approaches approximate these non-linear system of equations and require a good initial guess. In contrast, in this work, we solve these equations by using interval analysis in less computational effort. This enables the calculation being performed on the hardware of a robot at run time. Next, we extend the approach to model uncertainties of the microphone positions and the auditory features extracted by the microphones making the approach more robust in real applications. Last, we demonstrate the function ality of our approach by using simulated and real data. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.225.48.56

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Rauschenberger, A. and Wagner, B. (2020). Interval-based Sound Source Mapping for Mobile Robots. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO, ISBN 978-989-758-442-8; ISSN 2184-2809, pages 335-345. DOI: 10.5220/0009832803350345

@conference{icinco20,
author={Axel Rauschenberger. and Bernardo Wagner.},
title={Interval-based Sound Source Mapping for Mobile Robots},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO,},
year={2020},
pages={335-345},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009832803350345},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO,
TI - Interval-based Sound Source Mapping for Mobile Robots
SN - 978-989-758-442-8
IS - 2184-2809
AU - Rauschenberger, A.
AU - Wagner, B.
PY - 2020
SP - 335
EP - 345
DO - 10.5220/0009832803350345

0123movie