3D Sound Source Mapping using Interval-based Methods

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Original languageEnglish
Number of pages24
ISBN (electronic)978-3-030-92442-3
Publication statusPublished - 1 Jan 2022

Publication series

NameLecture Notes in Electrical Engineering
Volume793
ISSN (Print)1876-1100
ISSN (electronic)1876-1119

Abstract

The knowledge about the 3D position of sound sources can expand the model of the environment used by a mobile robot. To describe the 3D position of multiple sound sources, we form a relationship between the extracted auditory features from the microphone signals and the microphones’ position. To link all observations from different measurement positions, we form a Constraint Satisfaction Problem (CSP). In this work interval analysis is used to solve these equations. Compared to classical approaches, which calculate an approximation of this non-linear system of equations and require a good initial guess, our approach consumes less computation effort. As a benefit, our approach enables the calculation at run time on the hardware of a robot. To increase our method’s robustness for real applications, we extended the approach to model the uncertainties of the auditory features and the microphone positions using interval-based methods. For the extraction of the auditory features, we developed two methods. The first method is based on the direction estimations of state-of-the-art approaches. In contrast, the second method - Interval-Based Time Difference (InTiD) - is directly using interval-based methods on the microphones’ acoustics signals. Finally, by using simulated and real data, we demonstrate the functionality of our Interval-Based Sound Source Mapping (IB-SSM).

Keywords

    robot audtion, sound source mapping, interval analysis, Interval analysis, Mobile robotics, Sound source mapping, Robot audition

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Cite this

3D Sound Source Mapping using Interval-based Methods. / Rauschenberger, Axel; Wagner, Bernardo.
2022. 24 p. (Lecture Notes in Electrical Engineering; Vol. 793).

Research output: Book/ReportConference proceedingResearchpeer review

Rauschenberger, A & Wagner, B 2022, 3D Sound Source Mapping using Interval-based Methods. Lecture Notes in Electrical Engineering, vol. 793. https://doi.org/10.1007/978-3-030-92442-3_22
Rauschenberger, A., & Wagner, B. (2022). 3D Sound Source Mapping using Interval-based Methods. (Lecture Notes in Electrical Engineering; Vol. 793). https://doi.org/10.1007/978-3-030-92442-3_22
Rauschenberger A, Wagner B. 3D Sound Source Mapping using Interval-based Methods. 2022. 24 p. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-3-030-92442-3_22
Rauschenberger, Axel ; Wagner, Bernardo. / 3D Sound Source Mapping using Interval-based Methods. 2022. 24 p. (Lecture Notes in Electrical Engineering).
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