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Abstract
An off-the-shelf drone for indoor operation wouldcome with a variety of different sensors that are used concur-rently to avoid collision with, e.g., walls, but these sensors are typically uni-directional and offers limited spatial awareness. In this paper, we propose a model-based technique for distance estimation using sound and its reflections. More specifically, the technique is estimating Time-of-Arrivals (TOAs) of the reflected sound that could infer knowledge about room geometry and help in the design of sound-based collision avoidance. Our proposed solution is thus based on probing a known sound into an environment and then estimating the TOAs of reflected sounds recorded by a single microphone. The simulated results show that our approach to estimating TOAs for reflector position estimation works up to a distance of at least 2 meters even with significant additive noise, e.g., drone ego noise.
Original language | English |
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Title of host publication | 2019 27th European Signal Processing Conference (EUSIPCO) |
Number of pages | 5 |
Publisher | IEEE |
Publication date | 10 Sept 2019 |
ISBN (Print) | 978-90-827970-2-2 (USB) |
ISBN (Electronic) | 978-9-0827-9703-9 |
DOIs | |
Publication status | Published - 10 Sept 2019 |
Event | 27th European Signal Processing Conference, EUSIPCO 2019 - Coruña, Spain Duration: 2 Sept 2019 → 6 Sept 2019 |
Conference
Conference | 27th European Signal Processing Conference, EUSIPCO 2019 |
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Country/Territory | Spain |
City | Coruña |
Period | 02/09/2019 → 06/09/2019 |
Series | European Signal Processing Conference (EUSIPCO) |
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ISSN | 2076-1465 |
Keywords
- robotics
- room geometry estimation
- Acoustics impulse response
Fingerprint
Dive into the research topics of 'Sound-based Distance Estimation for Indoor Navigation in the Presence of Ego Noise'. Together they form a unique fingerprint.Projects
- 1 Finished
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Sound PrOcessing for Robots and Drones in the fourth industrial revolution
01/01/2018 → 31/12/2020
Project: Research
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A model-based approach to acoustic reflector localization with a robotic platform
Saqib, U. & Jensen, J. R., 26 Oct 2020, A model-based approach to acoustic reflector localization with a robotic platform. IEEE, p. 4499-4504 6 p.Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
2 Citations (Scopus) -
Estimation of acoustic echoes using expectation-maximization methods
Saqib, U., Gannot, S. & Jensen, J. R., 8 Aug 2020, In: Eurasip Journal on Audio, Speech, and Music Processing. 2020, 1, 15 p., 12.Research output: Contribution to journal › Journal article › Research › peer-review
Open AccessFile6 Citations (Scopus)47 Downloads (Pure)