Multiple Sound Source Localization Exploiting Robot Motion and Approaching Control

doi:10.1109/TIM.2023.3298406

	Multiple Sound Source Localization Exploiting Robot Motion and Approaching Control
	Wang, Zhiqing1,2 ; Zou, Wei1,2 ; Su, Hu1,2 ; Guo, Yuxin 1,2; Li, Donghui1,2
发表期刊	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
ISSN	0018-9456
	2023
卷号	72 页码:16
通讯作者	Zou, Wei(wei.zou@ia.ac.cn)
摘要	Sound source localization (SSL) and approaching are essential capabilities for robots with auditory sensing. However, most existing methods for SSL only provide the direction of arrival (DoA) of the source, without the source distance, and cannot cope with time-varying number of sound sources. In this article, a novel framework that integrates multi source state estimation and source approaching control is proposed to address these issues. First, auditory probability hypothesis density (A-PHD) method is proposed, which can estimate both the source direction and distance by leveraging the robot motion information along with DoA estimation. A-PHD designs a new state update and merge strategy based on the characteristics of auditory perception, enabling more accurate source number estimation and real-time performance improvement. Second, a new source approaching control method aiming at both improving SSL accuracy and approaching the source is proposed, which utilizes the entropy to quantify the uncertainty of SSL. This method establishes the explicit relationship between the entropy and the robot motion, achieving efficient and smooth source approaching while improving SSL accuracy. Third, based on the methods proposed above, an organic framework consisting of source localization and approaching is formed. In this framework, the results of A-PHD serve as input of the control method, and in turn, the control method utilizes certain robot motions to improve the accuracy of A-PHD and obtains more precise source locations as input. In this process, more accurate SSL and more efficient source approaching are achieved. A series of experiments such as multisource state estimation with various DoA errors, robot motions, missing and false measurements, and source approaching are conducted on a mobile robot with a six-microphone array, verifying the effectiveness of our methods.
关键词	Bayesian theory entropy theory robot audition robot motion sound source localization (SSL) source approaching control
DOI	10.1109/TIM.2023.3298406
关键词[WOS]	TRACKING
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2018YFB1306303] ; National Natural Science Foundation of China[61773374] ; Natural Science Foundation of Shandong Province[ZR2019ZD07]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Natural Science Foundation of Shandong Province
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:001053888300006
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54096
专题	多模态人工智能系统全国重点实验室
通讯作者	Zou, Wei
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Zhiqing,Zou, Wei,Su, Hu,et al. Multiple Sound Source Localization Exploiting Robot Motion and Approaching Control[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2023,72:16.
APA	Wang, Zhiqing,Zou, Wei,Su, Hu,Guo, Yuxin,&Li, Donghui.(2023).Multiple Sound Source Localization Exploiting Robot Motion and Approaching Control.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,72,16.
MLA	Wang, Zhiqing,et al."Multiple Sound Source Localization Exploiting Robot Motion and Approaching Control".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72(2023):16.