Reflection-aware sound source localization = 반사 인지 소리 위치 추정

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 210
  • Download : 0
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the position instantaneously from signals within a single frame. We consider direct sound and indirect sound signals that reach the microphones after reflecting off surfaces such as ceilings or walls. We then generate and trace direct and reflected acoustic paths using inverse acoustic ray tracing and utilize these paths with Monte Carlo localization to estimate a 3D sound source position. We have implemented our method on a robot with a cube-shaped microphone array and tested it against different settings with continuous and intermittent sound signals with a stationary or a mobile source. Across different settings, our approach can localize the sound with an average distance error of 0.8m tested in a room of 7m by 7m area with 3m height, including a mobile and non-line-of-sight sound source. We also reveal that the modeling of indirect rays increases the localization accuracy by 40% compared to only using direct acoustic rays.
Advisors
Yoon, Sung-Euiresearcher윤성의researcher
Description
한국과학기술원 :로봇공학학제전공,
Publisher
한국과학기술원
Issue Date
2018
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2018.2,[iii, 21 p. :]

Keywords

Robot▼aSound▼aLocalization▼aAcoustic; 로봇▼a소리▼a음향▼a위치 추정

URI
http://hdl.handle.net/10203/266011
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=733778&flag=dissertation
Appears in Collection
RE-Theses_Master(석사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0