Sound Source Localization in Complex Indoor Environment: A Self-Supervised Incremental Learning Approach PDF Download

Author: Zeyu Zhang
Publisher:
ISBN:
Category :
Languages : en
Pages : 39

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Book Description
Sound source localization is essential in robotics, which broadens the possibilities of human-robot interactions by enriching the robot's perceptual capabilities. Localizing an acoustic source in a complex indoor environment is especially challenging due to the high noise-to-signal ratio and reverberations. In this thesis, we present an incremental learning framework for mobile robots localizing the human sound source using a microphone array in a complex indoor environment consisting of multiple rooms. The framework allows robots to accumulate training data and improve the performance of the prediction model over time using an incremental learning scheme. A self-supervision process is developed such that the model ranks the priority of rooms to explore, assigns the ground truth label to the collected data, and updates the learned model on-the-fly. In experiments, we demonstrate that the framework can be directly deployed in real-world scenarios without extra human interventions, and can localize the sound source successfully.

Author: IEEE Staff
Publisher:
ISBN: 9781665445108
Category :
Languages : en
Pages :

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Book Description
CVPR is the premier annual computer vision event comprising the main conference and several co located workshops and short courses With its high quality and low cost, it provides an exceptional value for students, academics and industry researchers

Author: Richard R. Fay
Publisher: Springer Science & Business Media
ISBN: 0387288635
Category : Science
Languages : en
Pages : 340

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Book Description
The Springer Handbook of Auditory Research presents a series of compreh- sive and synthetic reviews of the fundamental topics in modern auditory - search. The volumes are aimed at all individuals with interests in hearing research including advanced graduate students, postdoctoral researchers, and clinical investigators. The volumes are intended to introduce new investigators to important aspects of hearing science and to help established investigators to better understand the fundamental theories and data in ?elds of hearing that they may not normally follow closely. Each volume presents a particular topic comprehensively, and each serves as a synthetic overview and guide to the literature. As such, the chapters present neither exhaustive data reviews nor original research that has not yet appeared in peer-reviewed journals. The volumes focus on topics that have developed a solid data and conceptual foundation rather than on those for which a literature is only beginning to develop. New research areas will be covered on a timely basis in the series as they begin to mature.

Author:
Publisher: Academic Press
ISBN: 008086385X
Category : Psychology
Languages : en
Pages : 457

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Book Description
The Psychology of Learning and Motivation publishes empirical and theoretical contributions in cognitive and experimental psychology, ranging from classical and instrumental conditions to complex learning and problem solving. This guest-edited special volume is devoted to current research and discussion on associative versus cognitive accounts of learning. Written by major investigators in the field, topics include all aspects of causal learning in an open forum in which different approaches are brought together. Up-to-date review of the literature Discusses recent controversies Presents major advances in understanding causal learning Synthesizes contrasting approaches Includes important empirical contributions Written by leading researchers in the field

Author: Xiaojin Geffner
Publisher: Springer Nature
ISBN: 3031015487
Category : Computers
Languages : en
Pages : 116

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Book Description
Semi-supervised learning is a learning paradigm concerned with the study of how computers and natural systems such as humans learn in the presence of both labeled and unlabeled data. Traditionally, learning has been studied either in the unsupervised paradigm (e.g., clustering, outlier detection) where all the data are unlabeled, or in the supervised paradigm (e.g., classification, regression) where all the data are labeled. The goal of semi-supervised learning is to understand how combining labeled and unlabeled data may change the learning behavior, and design algorithms that take advantage of such a combination. Semi-supervised learning is of great interest in machine learning and data mining because it can use readily available unlabeled data to improve supervised learning tasks when the labeled data are scarce or expensive. Semi-supervised learning also shows potential as a quantitative tool to understand human category learning, where most of the input is self-evidently unlabeled. In this introductory book, we present some popular semi-supervised learning models, including self-training, mixture models, co-training and multiview learning, graph-based methods, and semi-supervised support vector machines. For each model, we discuss its basic mathematical formulation. The success of semi-supervised learning depends critically on some underlying assumptions. We emphasize the assumptions made by each model and give counterexamples when appropriate to demonstrate the limitations of the different models. In addition, we discuss semi-supervised learning for cognitive psychology. Finally, we give a computational learning theoretic perspective on semi-supervised learning, and we conclude the book with a brief discussion of open questions in the field. Table of Contents: Introduction to Statistical Machine Learning / Overview of Semi-Supervised Learning / Mixture Models and EM / Co-Training / Graph-Based Semi-Supervised Learning / Semi-Supervised Support Vector Machines / Human Semi-Supervised Learning / Theory and Outlook

Author: Adrian Barbu
Publisher: Springer Nature
ISBN: 9811329710
Category : Mathematics
Languages : en
Pages : 433

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Book Description
This book seeks to bridge the gap between statistics and computer science. It provides an overview of Monte Carlo methods, including Sequential Monte Carlo, Markov Chain Monte Carlo, Metropolis-Hastings, Gibbs Sampler, Cluster Sampling, Data Driven MCMC, Stochastic Gradient descent, Langevin Monte Carlo, Hamiltonian Monte Carlo, and energy landscape mapping. Due to its comprehensive nature, the book is suitable for developing and teaching graduate courses on Monte Carlo methods. To facilitate learning, each chapter includes several representative application examples from various fields. The book pursues two main goals: (1) It introduces researchers to applying Monte Carlo methods to broader problems in areas such as Computer Vision, Computer Graphics, Machine Learning, Robotics, Artificial Intelligence, etc.; and (2) it makes it easier for scientists and engineers working in these areas to employ Monte Carlo methods to enhance their research.

Author: Qiang Yang
Publisher: Springer Nature
ISBN: 3030630765
Category : Computers
Languages : en
Pages : 291

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Book Description
This book provides a comprehensive and self-contained introduction to federated learning, ranging from the basic knowledge and theories to various key applications. Privacy and incentive issues are the focus of this book. It is timely as federated learning is becoming popular after the release of the General Data Protection Regulation (GDPR). Since federated learning aims to enable a machine model to be collaboratively trained without each party exposing private data to others. This setting adheres to regulatory requirements of data privacy protection such as GDPR. This book contains three main parts. Firstly, it introduces different privacy-preserving methods for protecting a federated learning model against different types of attacks such as data leakage and/or data poisoning. Secondly, the book presents incentive mechanisms which aim to encourage individuals to participate in the federated learning ecosystems. Last but not least, this book also describes how federated learning can be applied in industry and business to address data silo and privacy-preserving problems. The book is intended for readers from both the academia and the industry, who would like to learn about federated learning, practice its implementation, and apply it in their own business. Readers are expected to have some basic understanding of linear algebra, calculus, and neural network. Additionally, domain knowledge in FinTech and marketing would be helpful.”

Author: Barry Blesser
Publisher: MIT Press
ISBN: 026251317X
Category : Architecture
Languages : en
Pages : 453

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Book Description
How we experience space by listening: the concepts of aural architecture, with examples ranging from Gothic cathedrals to surround sound home theater. We experience spaces not only by seeing but also by listening. We can navigate a room in the dark, and "hear" the emptiness of a house without furniture. Our experience of music in a concert hall depends on whether we sit in the front row or under the balcony. The unique acoustics of religious spaces acquire symbolic meaning. Social relationships are strongly influenced by the way that space changes sound. In Spaces Speak, Are You Listening?, Barry Blesser and Linda-Ruth Salter examine auditory spatial awareness: experiencing space by attentive listening. Every environment has an aural architecture.The audible attributes of physical space have always contributed to the fabric of human culture, as demonstrated by prehistoric multimedia cave paintings, classical Greek open-air theaters, Gothic cathedrals, acoustic geography of French villages, modern music reproduction, and virtual spaces in home theaters. Auditory spatial awareness is a prism that reveals a culture's attitudes toward hearing and space. Some listeners can learn to "see" objects with their ears, but even without training, we can all hear spatial geometry such as an open door or low ceiling. Integrating contributions from a wide range of disciplines—including architecture, music, acoustics, evolution, anthropology, cognitive psychology, audio engineering, and many others—Spaces Speak, Are You Listening? establishes the concepts and language of aural architecture. These concepts provide an interdisciplinary guide for anyone interested in gaining a better understanding of how space enhances our well-being. Aural architecture is not the exclusive domain of specialists. Accidentally or intentionally, we all function as aural architects.

Author: Mohammad Ghavamzadeh
Publisher:
ISBN: 9781680830880
Category : Computers
Languages : en
Pages : 146

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Book Description
Bayesian methods for machine learning have been widely investigated, yielding principled methods for incorporating prior information into inference algorithms. This monograph provides the reader with an in-depth review of the role of Bayesian methods for the reinforcement learning (RL) paradigm. The major incentives for incorporating Bayesian reasoning in RL are that it provides an elegant approach to action-selection (exploration/exploitation) as a function of the uncertainty in learning, and it provides a machinery to incorporate prior knowledge into the algorithms. Bayesian Reinforcement Learning: A Survey first discusses models and methods for Bayesian inference in the simple single-step Bandit model. It then reviews the extensive recent literature on Bayesian methods for model-based RL, where prior information can be expressed on the parameters of the Markov model. It also presents Bayesian methods for model-free RL, where priors are expressed over the value function or policy class. Bayesian Reinforcement Learning: A Survey is a comprehensive reference for students and researchers with an interest in Bayesian RL algorithms and their theoretical and empirical properties.

Author: Sebastian Thrun
Publisher: MIT Press
ISBN: 0262201623
Category : Technology & Engineering
Languages : en
Pages : 668

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Book Description
An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.