TY - GEN
T1 - EchoSLAM
T2 - 41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016
AU - Kreković, Miranda
AU - Dokmanić, Ivan
AU - Vetterli, Martin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/5/18
Y1 - 2016/5/18
N2 - 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.
AB - 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.
KW - Room geometry estimation
KW - echo sorting
KW - simultaneous localization and mapping
KW - sound source localization
UR - http://www.scopus.com/inward/record.url?scp=84973326556&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973326556&partnerID=8YFLogxK
U2 - 10.1109/ICASSP.2016.7471627
DO - 10.1109/ICASSP.2016.7471627
M3 - Conference contribution
AN - SCOPUS:84973326556
T3 - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
SP - 11
EP - 15
BT - 2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 20 March 2016 through 25 March 2016
ER -