Realtime Active Sound Source Localization for Unmanned Ground
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HRTF Sound Localization
5 HRTF Sound Localization Martin Rothbucher, David Kronmüller, Marko Durkovic, Tim Habigt and Klaus Diepold Institute for Data Processing, Technische Universität München Germany 1. Introduction In order to improve interactions between the human (operator) and the robot (teleoperator) in human centered robotic systems, e.g. Telepresence Systems as seen in Figure 1, it is important to equip the robotic platform with multimodal human-like sensing, e.g. vision, haptic and audition. Operator Site Teleoperator Site ers i Barr Fig. 1. Schematic view of the telepresence scenario. Recently, robotic binaural hearing approaches based on Head-Related Transfer Functions (HRTFs) have become a promising technique to enable sound localization on mobile robotic platforms. Robotic platforms would benefit from this human like sound localization approach because of its noise-tolerance and the ability to localize sounds in a three-dimensional environment with only two microphones. As seen in Figure 2, HRTFs describe spectral changes of sound waves when they enter the ear canal, due to diffraction and reflection of the human body, i.e. the head, shoulders, torso and ears. In far field applications, they can be considered as functions of two spatial variables (elevation and azimuth) and frequency. HRTFs can be regarded as direction dependent filters, as diffraction and reflexion properties of the human body are different for each direction. Since www.intechopen.com 80 Advances in Sound Localization the geometric features of the body differ from person to person, HRTFs are unique for each individual (Blauert, 1997). Fig. 2. HRTFs over varying azimuth and constant elevation The problem of HRTF-based sound localization on mobile robotic platforms can be separated into three main parts, namely the HRTF-based localization algorithms, the HRTF data reduction and the application of predictors that improve the localization performance. -
Robotics and Autonomous Systems Localization of Sound Sources In
Robotics and Autonomous Systems 96 (2017) 184–210 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: www.elsevier.com/locate/robot Localization of sound sources in robotics: A review Caleb Rascon *, Ivan Meza Instituto de Investigaciones en Matematicas Aplicadas y en Sistemas, Universidad Nacional Autonoma de Mexico, Circuito Escolar S/N, Mexico 04510, Mexico h i g h l i g h t s • A highly detailed survey of sound source localization (SSL) used over robotic platforms. • Classification of SSL techniques and description of the SSL problem. • Description of the diverse facets of the SSL problem. • Survey of the evaluation methodologies used to measure SSL performance in robotics. • Discussion of current SSL challenges and research questions. article info a b s t r a c t Article history: Sound source localization (SSL) in a robotic platform has been essential in the overall scheme of robot Received 18 August 2016 audition. It allows a robot to locate a sound source by sound alone. It has an important impact on Received in revised form 24 June 2017 other robot audition modules, such as source separation, and it enriches human–robot interaction by Accepted 21 July 2017 complementing the robot's perceptual capabilities. The main objective of this review is to thoroughly Available online 5 August 2017 map the current state of the SSL field for the reader and provide a starting point to SSL in robotics. To this effect, we present: the evolution and historical context of SSL in robotics; an extensive review and Keywords: Robot audition classification of SSL techniques and popular tracking methodologies; different facets of SSL as well as its Sound source localization state-of-the-art; evaluation methodologies used for SSL; and a set of challenges and research motivations. -
Localization of Sound Sources: a Systematic Review
energies Review Localization of Sound Sources: A Systematic Review Muhammad Usman Liaquat 1 , Hafiz Suliman Munawar 2 , Amna Rahman 3, Zakria Qadir 4,* , Abbas Z. Kouzani 5 and M. A. Parvez Mahmud 5 1 Department of Electronics Engineering, North Ryde Campus, Macquarie University, Sydney, NSW 2109, Australia; [email protected] 2 School of Built Environment, University of New South Wales, Kensington, Sydney, NSW 2052, Australia; [email protected] 3 Department of Computer Engineering, National University of Sciences and Technology, Islamabad 44000, Pakistan; [email protected] 4 School of Computing Engineering and Mathematics, Western Sydney University, Locked Bag 1797, Penrith, NSW 2751, Australia 5 School of Engineering, Deakin University, Geelong, VIC 3216, Australia; [email protected] (A.Z.K.); [email protected] (M.A.P.M.) * Correspondence: [email protected] Abstract: Sound localization is a vast field of research and advancement which is used in many useful applications to facilitate communication, radars, medical aid, and speech enhancement to but name a few. Many different methods are presented in recent times in this field to gain benefits. Various types of microphone arrays serve the purpose of sensing the incoming sound. This paper presents an overview of the importance of using sound localization in different applications along with the use and limitations of ad-hoc microphones over other microphones. In order to overcome these limitations certain approaches are also presented. Detailed explanation of some of the existing methods that are used for sound localization using microphone arrays in the recent literature is given. -
Localization of Sound Sources: a Systematic Review
energies Review Localization of Sound Sources: A Systematic Review Muhammad Usman Liaquat 1 , Hafiz Suliman Munawar 2 , Amna Rahman 3, Zakria Qadir 4,* , Abbas Z. Kouzani 5 and M. A. Parvez Mahmud 5 1 Department of Electronics Engineering, North Ryde Campus, Macquarie University, Sydney, NSW 2109, Australia; [email protected] 2 School of Built Environment, University of New South Wales, Kensington, Sydney, NSW 2052, Australia; [email protected] 3 Department of Computer Engineering, National University of Sciences and Technology, Islamabad 44000, Pakistan; [email protected] 4 School of Computing Engineering and Mathematics, Western Sydney University, Locked Bag 1797, Penrith, NSW 2751, Australia 5 School of Engineering, Deakin University, Geelong, VIC 3216, Australia; [email protected] (A.Z.K.); [email protected] (M.A.P.M.) * Correspondence: [email protected] Abstract: Sound localization is a vast field of research and advancement which is used in many useful applications to facilitate communication, radars, medical aid, and speech enhancement to but name a few. Many different methods are presented in recent times in this field to gain benefits. Various types of microphone arrays serve the purpose of sensing the incoming sound. This paper presents an overview of the importance of using sound localization in different applications along with the use and limitations of ad-hoc microphones over other microphones. In order to overcome these limitations certain approaches are also presented. Detailed explanation of some of the existing methods that are used for sound localization using microphone arrays in the recent literature is given.