Interval-based Sound Source Mapping for Mobile Robots

Axel Rauschenberger, Bernardo Wagner

2020

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 functionality of our approach by using simulated and real data.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 335-345. DOI: 10.5220/0009832803350345

in Bibtex Style

@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 - Volume 1: ICINCO,},
year={2020},
pages={335-345},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009832803350345},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Interval-based Sound Source Mapping for Mobile Robots
SN - 978-989-758-442-8
AU - Rauschenberger A.
AU - Wagner B.
PY - 2020
SP - 335
EP - 345
DO - 10.5220/0009832803350345