Probabilistic structure from sound and probabilistic sound source localization

Chi Hao Lin*, Chieh-Chih Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events which provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform. In addition, a probabilistic sound source localization (PSSL) approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low cost, off-the-shell microphones demonstrate the feasibility and performance of the proposed PSFS and PSSL approaches.

Original languageEnglish
Title of host publicationIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs
StatePublished - 1 Dec 2008
EventIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan
Duration: 23 Aug 200825 Aug 2008

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

ConferenceIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
CountryTaiwan
CityTaipei
Period23/08/0825/08/08

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