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Using mobility to localize sound sources in complex environments

Research Project

Project/Area Number 16K16135
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent robotics
Research InstitutionAdvanced Telecommunications Research Institute International

Principal Investigator

Even Jani  株式会社国際電気通信基礎技術研究所, 石黒浩特別研究所, 研究員 (40586228)

Research Collaborator Morales Yoichi  
Furrer Jonas  
Ishi Carlos  
Project Period (FY) 2016-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywordssound localization / sound mapping / Field of view / 知能ロボティックス
Outline of Final Research Achievements

A technique to map sound sources using a mobile robot equipped with a microphone array was developed. The spatial distribution of the sound is exploited to determine the position of the sound sources in the environment. For this purpose, a quad-tree based sampling technique has been introduced.
By using the geometric information known about the environment, the path of reflected sounds are estimated and used to detect sound sources that are out of the field of view.
A way to modulate the sound perception inside and outside the field of view has been implemented in order to prioritize sound sources that are not visible.

Report

(3 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • Research Products

    (1 results)

All 2017

All Journal Article (1 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 1 results)

  • [Journal Article] Probabilistic 3-D Mapping of Sound-Emitting Structures Based on Acoustic Ray Casting2017

    • Author(s)
      J. Even, J. Furrer, Y. Morales, C. T. Ishi and N. Hagita
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 33 Issue: 2 Pages: 333-345

    • DOI

      10.1109/tro.2016.2630053

    • Related Report
      2017 Annual Research Report 2016 Research-status Report
    • Peer Reviewed / Int'l Joint Research

URL: 

Published: 2016-04-21   Modified: 2019-03-29  

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