Title:
Auditory Evidence Grids
Auditory Evidence Grids
Authors
Martinson, Eric
Schultz, Alan
Schultz, Alan
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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.
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Date Issued
2006
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