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.
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