EchoSLAM: Simultaneous localization and mapping with acoustic echoes

Miranda Kreković, Ivan Dokmanić, Martin Vetterli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We address the problem of jointly localizing a robot in an unknown room and estimating the room geometry from echoes. Unlike earlier work using echoes, we assume a completely autonomous setup with (near) collocated microphone and the acoustic source. We first introduce a simple, easy to analyze estimator, and prove that the sequence of room and trajectory estimates converges to the true values. Next, we approach the problem from a Bayesian point of view, and propose a more general solution which does not require any assumptions on motion and measurement model of the robot. In addition to theoretical analysis, we validate both estimators numerically.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages11-15
Number of pages5
ISBN (Electronic)9781479999880
DOIs
StatePublished - May 18 2016
Event41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Shanghai, China
Duration: Mar 20 2016Mar 25 2016

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume2016-May
ISSN (Print)1520-6149

Other

Other41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016
CountryChina
CityShanghai
Period3/20/163/25/16

Keywords

  • Room geometry estimation
  • echo sorting
  • simultaneous localization and mapping
  • sound source localization

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

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