IEICE TRANSACTIONS on Information
Position Identification by Actively Localizing Spacial Sound Beacons
Summary :
In this paper, we propose a method for robot self-position identification by active sound localization. This method can be used for autonomous security robots working in room environments. A system using an AIBO robot equipped with two microphones and a wireless network is constructed and used for position identification experiments. Differences in arrival time to the robot's microphones are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head-position measurement method is proposed. The position of robot can be identified by the intersection of circles restricted using the azimuth differences among different sound beacon pairs. By localizing three or four loudspeakers as sound beacons positioned at known locations, the robot can identify its position with an average error of 7 cm in a 2.5
- Publication
- IEICE TRANSACTIONS on Information Vol.E94-D No.3 pp.632-638
- Publication Date
- 2011/03/01
- Publicized
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.E94.D.632
- Type of Manuscript
- PAPER
- Category
- Artificial Intelligence, Data Mining
Authors
Keyword
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Huakang LI, Jie HUANG, Qunfei ZHAO, "Position Identification by Actively Localizing Spacial Sound Beacons" in IEICE TRANSACTIONS on Information,
vol. E94-D, no. 3, pp. 632-638, March 2011, doi: 10.1587/transinf.E94.D.632.
Abstract: In this paper, we propose a method for robot self-position identification by active sound localization. This method can be used for autonomous security robots working in room environments. A system using an AIBO robot equipped with two microphones and a wireless network is constructed and used for position identification experiments. Differences in arrival time to the robot's microphones are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head-position measurement method is proposed. The position of robot can be identified by the intersection of circles restricted using the azimuth differences among different sound beacon pairs. By localizing three or four loudspeakers as sound beacons positioned at known locations, the robot can identify its position with an average error of 7 cm in a 2.5
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.E94.D.632/_p
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@ARTICLE{e94-d_3_632,
author={Huakang LI, Jie HUANG, Qunfei ZHAO, },
journal={IEICE TRANSACTIONS on Information},
title={Position Identification by Actively Localizing Spacial Sound Beacons},
year={2011},
volume={E94-D},
number={3},
pages={632-638},
abstract={In this paper, we propose a method for robot self-position identification by active sound localization. This method can be used for autonomous security robots working in room environments. A system using an AIBO robot equipped with two microphones and a wireless network is constructed and used for position identification experiments. Differences in arrival time to the robot's microphones are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head-position measurement method is proposed. The position of robot can be identified by the intersection of circles restricted using the azimuth differences among different sound beacon pairs. By localizing three or four loudspeakers as sound beacons positioned at known locations, the robot can identify its position with an average error of 7 cm in a 2.5
keywords={},
doi={10.1587/transinf.E94.D.632},
ISSN={1745-1361},
month={March},}
Copy
TY - JOUR
TI - Position Identification by Actively Localizing Spacial Sound Beacons
T2 - IEICE TRANSACTIONS on Information
SP - 632
EP - 638
AU - Huakang LI
AU - Jie HUANG
AU - Qunfei ZHAO
PY - 2011
DO - 10.1587/transinf.E94.D.632
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E94-D
IS - 3
JA - IEICE TRANSACTIONS on Information
Y1 - March 2011
AB - In this paper, we propose a method for robot self-position identification by active sound localization. This method can be used for autonomous security robots working in room environments. A system using an AIBO robot equipped with two microphones and a wireless network is constructed and used for position identification experiments. Differences in arrival time to the robot's microphones are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head-position measurement method is proposed. The position of robot can be identified by the intersection of circles restricted using the azimuth differences among different sound beacon pairs. By localizing three or four loudspeakers as sound beacons positioned at known locations, the robot can identify its position with an average error of 7 cm in a 2.5
ER -
English
