Auditory Occupancy Grids: Sound Localization on a Mobile Robot

B.P. DeJong (USA)

Keywords

Auditory occupancy grids, robot sensing, mobile robots,probabilistic robotics, sound localization.

Abstract

This paper describes the use of auditory occupancy grids (AOGs) for mapping of a mobile robot’s acoustic en vironment. An AOG is a probabilistic map of sound source locations generated from multiple measurements using probabilistic robotics and sound localization tech niques. The mapping is simulated and then successfully implemented on a three-microphone mobile robot with four sound sources. Using the robot’s inherent advantage of mo bility, the AOG correctly locates the sound sources from only a few measurements.

Important Links:

• DOI: 10.2316/P.2010.706-032
• From Proceeding (705) IASTED Technology Conferences / 705: ARP / 706: RA / 707: NANA / 728: CompBIO - 2010

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