Brian P. DeJong
auditory occupancy grids, robot sensing, computer network
This paper presents the extension of auditory occupancy grids (AOGs) to three dimensions, to map the acoustic environment around a mobile robot. The three-dimensional AOGs are able to locate four sound sources in three-dimensions using four microphones and only nine measurements along the bottom plane of the workspace. Comparative robustness tests show that the three-dimensional AOGs are nearly identically as robust to source location as two-dimensional AOGs.
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