Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
The design and implementation of a self-calibrating distributed acoustic sensing platform
Proceedings of the 4th international conference on Embedded networked sensor systems
The Science and Applications of Acoustics
The Science and Applications of Acoustics
Improving human-robot interaction through adaptation to the auditory scene
Proceedings of the ACM/IEEE international conference on Human-robot interaction
An empirical study of collaborative acoustic source localization
Proceedings of the 6th international conference on Information processing in sensor networks
Acoustical awareness for intelligent robotic action
Acoustical awareness for intelligent robotic action
Discrete-time speech signal processing: principles and practice
Discrete-time speech signal processing: principles and practice
Using sound source localization in a home environment
PERVASIVE'05 Proceedings of the Third international conference on Pervasive Computing
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this work, we describe an autonomous mobile robotic system for finding, investigating, and modeling ambient noise sources in the environment. The system has been fully implemented in two different environments, using two different robotic platforms and a variety of sound source types. Making use of a two-step approach to autonomous exploration of the auditory scene, the robot first quickly moves through the environment to find and roughly localize unknown sound sources using the auditory evidence grid algorithm. Then, using the knowledge gained from the initial exploration, the robot investigates each source in more depth, improving upon the initial localization accuracy, identifying volume and directivity, and, finally, building a classification vector useful for detecting the sound source in the future.