Accession Number : ADA462871


Title :   Auditory Evidence Grids


Descriptive Note : Conference paper


Corporate Author : GEORGIA INST OF TECH ATLANTA


Personal Author(s) : Martinson, Eric ; Schultz, Alan


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a462871.pdf


Report Date : Jan 2006


Pagination or Media Count : 7


Abstract : Sound source localization on a mobile robot can be a difficult task due to a variety of problems inherent to a real environment, including robot ego-noise, echoes, and the transient nature of ambient noise. As a result, source localization data are often very noisy and unreliable. In this work, we overcome some of these problems by combining the localization evidence over a variety of robot poses using an evidence grid. The result is a representation that localizes the pertinent objects well over time, can be used to filter poor localization results, and may also be useful for global re-localization from sound localization results.


Descriptors :   *SOURCES , *ROBOTS , *SOUND , *MOBILE , ALGORITHMS , GRIDS , SYMPOSIA


Subject Categories : Cybernetics
      Acoustics


Distribution Statement : APPROVED FOR PUBLIC RELEASE