A model-based approach to acoustic reflector localization with a robotic platform

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

Constructing a spatial map of an indoor environment, e.g., a typical office environment with glass surfaces, is a difficult and challenging task. Current state-of-the-art, e.g., camera- and laser-based approaches are unsuitable for detecting transparent surfaces. Hence, the spatial map generated with these approaches are often inaccurate. In this paper, a method that utilizes echolocation with sound in the audible frequency range is proposed to robustly localize the position of an acoustic reflector, e.g., walls, glass surfaces etc., which could be used to construct a spatial map of an indoor environment as the robot moves. The proposed method estimate the acoustic reflector’s position, using only a single microphone and a loudspeaker that are present on many socially assistive robot platforms such as the NAO robot. The experimentalesults show that the proposed method could robustly detect an acoustic reflector up to a distance of 1.5 m in more than 60% of the trials and works efficiently even under low SNRs. To test the proposed method, a proof-of-concept robotic platform was build to construct a spatial map of an indoor environment.
Original languageEnglish
Title of host publicationA model-based approach to acoustic reflector localization with a robotic platform
Number of pages6
PublisherIEEE
Publication date26 Oct 2020
Pages4499-4504
ISBN (Electronic)978-1-7281-6211-9
DOIs
Publication statusPublished - 26 Oct 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Caesars Forum, Las Vegas, United States
Duration: 24 Oct 202030 Oct 2020
http://www.iros2020.org/index.html

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
LocationCaesars Forum
CountryUnited States
CityLas Vegas
Period24/10/202030/10/2020
Internet address

Keywords

  • robot audition
  • acoustic echoes
  • Array Processing
  • mapping
  • TOA estimation

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