Title:
Robotic Discovery of the Auditory Scene
Robotic Discovery of the Auditory Scene
Author(s)
Martinson, Eric
Schultz, Alan
Schultz, Alan
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Abstract
In this work, we describe an autonomous mobile
robotic system for finding and investigating ambient noise
sources in the environment. Motivated by the large negative
effect of ambient noise sources on robot audition, the long-term
goal is to provide awareness of the auditory scene to a robot, so
that it may more effectively act to filter out the interference or
re-position itself to increase the signal-to-noise ratio. Here, we
concentrate on the discovery of new sources of sound through
the use of mobility and directed investigation. This is
performed in a two-step process. In the first step, a mobile
robot first explores the surrounding acoustical environment,
creating evidence grid representations to localize the most
influential sound sources in the auditory scene. Then in the
second step, the robot investigates each potential sound source
location in the environment so as to improve the localization
result, and identify volume and directionality characteristics of
the sound source. Once every source has been investigated, a
noise map of the entire auditory scene is created for use by the
robot in avoiding areas of loud ambient noise when performing
an auditory task.
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Date Issued
2007
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Paper