Detecting Acoustic Reflectors using a Robot's Ego-noise

Usama Saqib, Antoine Deleforge, Jesper Rindom Jensen

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1 Citationer (Scopus)

Abstrakt

In this paper, we propose a method to estimate the proximity of an acoustic reflector, e.g., a wall, using ego-noise, i.e., the noise produced by the moving parts of a listening robot. This is achieved by estimating the times of arrival of acoustic echoes reflected from the surface. Simulated experiments show that the proposed non-intrusive approach is capable of accurately estimating the distance of a reflector up to 1 meter and outperforms a previously proposed intrusive approach under loud ego-noise conditions. The proposed method is helped by a probabilistic echo detector that estimates whether or not an acoustic reflector is within a short range of the robotic platform. This preliminary investigation paves the way towards a new kind of collision avoidance system that would purely rely on audio sensors rather than conventional proximity sensors.
OriginalsprogEngelsk
TitelInternational Conference on Acoustic, Speech and Signal Processing
Antal sider5
Vol/bind2021-June
ForlagIEEE
Publikationsdato2021
Sider466-470
Artikelnummer9414061
ISBN (Trykt)978-1-7281-7606-2
ISBN (Elektronisk)978-1-7281-7605-5
DOI
StatusUdgivet - 2021
Begivenhed ICASSP 2021 - 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) - Toronto, Canada
Varighed: 6 jun. 202111 jun. 2021

Konference

Konference ICASSP 2021 - 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Land/OmrådeCanada
ByToronto
Periode06/06/202111/06/2021
NavnI E E E International Conference on Acoustics, Speech and Signal Processing. Proceedings
ISSN1520-6149

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