Probabilistic 3-D Mapping of Sound-Emitting Structures Based on Acoustic Ray Casting
Probabilistic 3-D Mapping of Sound-Emitting Structures Based on Acoustic Ray Casting
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DOI：
10.1109/tro.2016.2630053
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发表时间：
2017-04
影响因子：
7.8
通讯作者：
J. Even;Jonas Furrer;Y. Morales;C. Ishi;N. Hagita
中科院分区：
文献类型：
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作者：
J. Even;Jonas Furrer;Y. Morales;C. Ishi;N. Hagita
本文提出了一个两步框架创建三维（3-D）的声音地图的环境与移动的机器人。第一步是创建描述环境几何形状的地图。第二步是将声学信息添加到几何图。结果是一个声音地图，显示了环境中所有结构发出声音的概率。为了建立声音地图，一个配备有麦克风阵列的移动的机器人穿过地图环境。在该驱动期间，由麦克风阵列收集的声学信息以概率方式累积。首先，根据从这些方向接收的声功率来评估在一组方向上声源存在的可能性。然后，使用机器人姿态的估计，声射线投射过程将这种可能性转移到几何地图中的结构。最后，这些结构发出声音的概率根据可能性进行更新。实验结果表明，声音地图是：准确的，因为它是可能的声源定位在3-D和实用的不同类型的环境被映射。
This paper presents a two-step framework for creating the three-dimensional (3-D) sound map of an environment with a mobile robot. The first step is the creation of a map that describes the geometry of the environment. The second step is the addition of the acoustic information to the geometric map. The result is a sound map that shows the probability of emitting sound for all the structures in the environment. To build the sound map, a mobile robot equipped with a microphone array drives through the mapped environment. During this drive, the acoustic information gathered by the microphone array is accumulated in a probabilistic manner. First, the likelihood of sound source presence in a set of directions is evaluated from the acoustic power received from these directions. Then, using an estimate of the robot's pose, an acoustic ray casting procedure transfers this likelihood to the structures in the geometric map. Finally, the probability that these structures emit sound is updated accordingly to the likelihood. Experimental results show that the sound maps are: accurate as it was possible to localize sound sources in 3-D and practical as different types of environments were mapped.