- Title
- Can a robot hear the shape and dimensions of a room?
- Creator
- Nguyen, Linh; Miro, Jaime Valls; Qiu, Xiaojun
- Date
- 2019
- Type
- Text; Conference proceedings
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/183853
- Identifier
- vital:16389
- Identifier
-
https://doi.org/10.1109/IROS40897.2019.8968612
- Identifier
- ISBN:978-1-7281-4004-9
- Abstract
- Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is a challenging proposition. Existing methods have been proposed to reconstruct a room from the room impulse responses (RIRs). However, the sound source and microphones must be deployed in a feasible region of the room for it to work, which is impractical when the room is unknown. This work propose to employ a robot equipped with a sound source and four acoustic sensors, to follow a proposed path planning strategy to moves around the room to collect first image sources for room geometry estimation. The strategy can effectively drives the robot from a random initial location through the room so that the room geometry is guaranteed to be revealed. Effectiveness of the proposed approach is extensively validated in a synthetic environment, where the results obtained are highly promising.
- Publisher
- IEEE
- Relation
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Macau, China; 03-08 November 2019 p. 5346-5351
- Rights
- All metadata describing materials held in, or linked to, the repository is freely available under a CC0 licence
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