Robotic Sound Source Mapping Using Microphone Arrays PDF Download

Author: Daobilige Su
Publisher:
ISBN:
Category : Computational intelligence
Languages : en
Pages : 168

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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: 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: Jacob Benesty
Publisher: Springer Science & Business Media
ISBN: 3540786120
Category : Technology & Engineering
Languages : en
Pages : 245

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Book Description
In the past few years we have written and edited several books in the area of acousticandspeechsignalprocessing. Thereasonbehindthisendeavoristhat there were almost no books available in the literature when we ?rst started while there was (and still is) a real need to publish manuscripts summarizing the most useful ideas, concepts, results, and state-of-the-art algorithms in this important area of research. According to all the feedback we have received so far, we can say that we were right in doing this. Recently, several other researchers have followed us in this journey and have published interesting books with their own visions and perspectives. The idea of writing a book on Microphone Array Signal Processing comes from discussions we have had with many colleagues and friends. As a c- sequence of these discussions, we came up with the conclusion that, again, there is an urgent need for a monograph that carefully explains the theory and implementation of microphone arrays. While there are many manuscripts on antenna arrays from a narrowband perspective (narrowband signals and narrowband processing), the literature is quite scarce when it comes to s- sor arrays explained from a truly broadband perspective. Many algorithms for speech applications were simply borrowed from narrowband antenna - rays. However, a direct application of narrowband ideas to broadband speech processing may not be necessarily appropriate and can lead to many m- understandings.

Author: Michael Brandstein
Publisher: Springer Science & Business Media
ISBN: 3662046199
Category : Technology & Engineering
Languages : en
Pages : 401

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Book Description
This is the first book to provide a single complete reference on microphone arrays. Top researchers in this field contributed articles documenting the current state of the art in microphone array research, development and technological application.

Author: Bracha Laufer-Goldshtein
Publisher:
ISBN: 9781680837360
Category :
Languages : en
Pages : 178

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Book Description
Acoustic source localization is an essential component in many modern day audio applications. For example, smart speakers require localization capabilities in order to determine the speakers in the scene and their role. Based on the location information, they can enhance a speaker or carry out location specific tasks, such as switching the lights on and off, steering a camera, etc. Localization has often been based on creating physical models which become extremely intricate in real-world applications. Recently, researchers have started using learning techniques to address localization problems. This monograph introduces the reader to the research and practical aspects behind the approach of learning the characteristics of the acoustic environment directly from the data rather than using a predefined physical model. Written by the experts in the field who have developed many of these techniques, it provides a comprehensive overview and insights into this burgeoning area of acoustic developments. The reader is introduced to the underlying mathematics before being introduced to the localization problem in depth. The core paradigm of using manifolds for diffusion mapping and distance is then described. Building on these concepts, the authors address both single and multiple manifold localization. Finally, manifold-based tracking is covered. Data-Driven Multi-Microphone Speaker Localization on Manifolds is an illuminating introduction to designing and building acoustic systems where localization of multi-microphone and speakers forms an essential part of the system.

Author: Patrick A. Naylor
Publisher: Springer Science & Business Media
ISBN: 1849960569
Category : Technology & Engineering
Languages : en
Pages : 388

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Book Description
Speech Dereverberation gathers together an overview, a mathematical formulation of the problem and the state-of-the-art solutions for dereverberation. Speech Dereverberation presents current approaches to the problem of reverberation. It provides a review of topics in room acoustics and also describes performance measures for dereverberation. The algorithms are then explained with mathematical analysis and examples that enable the reader to see the strengths and weaknesses of the various techniques, as well as giving an understanding of the questions still to be addressed. Techniques rooted in speech enhancement are included, in addition to a treatment of multichannel blind acoustic system identification and inversion. The TRINICON framework is shown in the context of dereverberation to be a generalization of the signal processing for a range of analysis and enhancement techniques. Speech Dereverberation is suitable for students at masters and doctoral level, as well as established researchers.

Author: Matthias Woelfel
Publisher: John Wiley & Sons
ISBN: 0470714077
Category : Technology & Engineering
Languages : en
Pages : 600

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Book Description
A complete overview of distant automatic speech recognition The performance of conventional Automatic Speech Recognition (ASR) systems degrades dramatically as soon as the microphone is moved away from the mouth of the speaker. This is due to a broad variety of effects such as background noise, overlapping speech from other speakers, and reverberation. While traditional ASR systems underperform for speech captured with far-field sensors, there are a number of novel techniques within the recognition system as well as techniques developed in other areas of signal processing that can mitigate the deleterious effects of noise and reverberation, as well as separating speech from overlapping speakers. Distant Speech Recognitionpresents a contemporary and comprehensive description of both theoretic abstraction and practical issues inherent in the distant ASR problem. Key Features: Covers the entire topic of distant ASR and offers practical solutions to overcome the problems related to it Provides documentation and sample scripts to enable readers to construct state-of-the-art distant speech recognition systems Gives relevant background information in acoustics and filter techniques, Explains the extraction and enhancement of classification relevant speech features Describes maximum likelihood as well as discriminative parameter estimation, and maximum likelihood normalization techniques Discusses the use of multi-microphone configurations for speaker tracking and channel combination Presents several applications of the methods and technologies described in this book Accompanying website with open source software and tools to construct state-of-the-art distant speech recognition systems This reference will be an invaluable resource for researchers, developers, engineers and other professionals, as well as advanced students in speech technology, signal processing, acoustics, statistics and artificial intelligence fields.

Author: Satoshi Tadokoro
Publisher: Springer
ISBN: 3030053210
Category : Technology & Engineering
Languages : en
Pages : 534

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Book Description
This book introduces readers to the latest findings on disaster robotics. It is based on the ImPACT Tough Robotics Challenge, a national project spearheaded by the Japan Cabinet Office that focuses on developing robotics technologies to aid in disaster response, recovery and preparedness. It presents six subprojects that involve robot platforms and several component technologies used in conjunction with robots: cyber rescue canines, which are digitally empowered rescue dogs; serpent-like robots for searching debris; serpent-like robots for plant/infrastructure inspection; UAVs for gathering information on large areas struck by disaster; legged robots for plant/infrastructure inspection in risky places; and construction robots for recovery tasks that require both power and precision. The book offers a valuable source of information for researchers, engineers and practitioners in safety, security and rescue robotics, disaster robotics, and plant and infrastructure maintenance. It will also appeal to a wider demographic, including students and academics, as it highlights application scenarios and the total concept for each robot in various scientific and technical contexts. In addition to a wealth of figures and photos that explain these robots and systems, as well as experimental data, the book includes a comprehensive list of published papers from this project for readers to refer to. Lastly, an external website offers video footage and updated information from the International Rescue System Institute.

Author: Hanafiah Yussof
Publisher: BoD – Books on Demand
ISBN: 9537619834
Category : Computers
Languages : en
Pages : 589

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Book Description
Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.