3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM

A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in real world settings, spatial correlation must be establishe...

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Main Authors: Michaud, Simon, Faucher, Samuel, Grondin, Francois, Lauzon, Jean-Samuel, Labbe, Mathieu, Letourneau, Dominic, Ferland, Francois, Michaud, Francois
Format: Conference Proceeding
Language:English
Subjects:
Arrays
Location awareness
Microphone arrays
Mobile robots
Simultaneous localization and mapping
Three-dimensional displays
Visualization
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creator Michaud, Simon
Faucher, Samuel
Grondin, Francois
Lauzon, Jean-Samuel
Labbe, Mathieu
Letourneau, Dominic
Ferland, Francois
Michaud, Francois
description A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in real world settings, spatial correlation must be established. The approach explored in this paper consists of having two robots, each equipped with a microphone array, localizing themselves in a shared reference map using SLAM. Based on their locations, data from the microphone arrays are used to triangulate in 3D the location of a sound source in relation to the same map. This strategy results in a novel cooperative sound mapping approach using mobile microphone arrays. Trials are conducted using two mobile robots localizing a static or a moving sound source to examine in which conditions this is possible. Results suggest that errors under 0.3 m are observed when the relative angle between the two robots are above 30° for a static sound source, while errors under 0.3 m for angles between 40° and 140° are observed with a moving sound source.
doi_str_mv 10.1109/IROS45743.2020.9341098
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subjects Arrays
Location awareness
Microphone arrays
Mobile robots
Simultaneous localization and mapping
Three-dimensional displays
Visualization
title 3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM
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