Three-dimensional auditory occupancy grids: Accuracy and robustness

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2nd IASTED International Conference on Robotics, Robo 2011
Pages311-316
Number of pages6
DOIs
StatePublished - 2011
Event2nd IASTED International Conference on Robotics, Robo 2011 - Pittsburgh, PA, United States
Duration: Nov 7 2011Nov 9 2011

Publication series

NameProceedings of the 2nd IASTED International Conference on Robotics, Robo 2011

Conference

Conference2nd IASTED International Conference on Robotics, Robo 2011
Country/TerritoryUnited States
CityPittsburgh, PA
Period11/7/1111/9/11

Keywords

  • Auditory occupancy grids
  • Mobile robots
  • Robot sensing
  • Sound localization

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