Can a Robot Hear the Shape and Dimensions of a Room?

Nguyen, L; Miro, JV; Qiu, X

Can a Robot Hear the Shape and Dimensions of a Room?

Nguyen, L

Miro, JV

Qiu, X

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 5346 - 5351
Issue Date:: 2019-11-01

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Field	Value	Language
dc.contributor.author	Nguyen, L https://orcid.org/0000-0001-5360-886X	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Qiu, X https://orcid.org/0000-0002-5181-1220	en_US
dc.date.issued	2019-11-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 5346 - 5351	en_US
dc.identifier.isbn	9781728140049	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/134071
dc.description.abstract	© 2019 IEEE. Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is a challenging proposition. Existing methods have been proposed to reconstruct a room from the room impulse responses (RIRs). However, the sound source and microphones must be deployed in a feasible region of the room for it to work, which is impractical when the room is unknown. This work propose to employ a robot equipped with a sound source and four acoustic sensors, to follow a proposed path planning strategy to moves around the room to collect first image sources for room geometry estimation. The strategy can effectively drives the robot from a random initial location through the room so that the room geometry is guaranteed to be revealed. Effectiveness of the proposed approach is extensively validated in a synthetic environment, where the results obtained are highly promising.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS40897.2019.8968612	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Can a Robot Hear the Shape and Dimensions of a Room?	en_US
dc.type	Conference Proceeding
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2021-11-04T00:00:00+1100
pubs.publication-status	Published	en_US

Abstract:

© 2019 IEEE. Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is a challenging proposition. Existing methods have been proposed to reconstruct a room from the room impulse responses (RIRs). However, the sound source and microphones must be deployed in a feasible region of the room for it to work, which is impractical when the room is unknown. This work propose to employ a robot equipped with a sound source and four acoustic sensors, to follow a proposed path planning strategy to moves around the room to collect first image sources for room geometry estimation. The strategy can effectively drives the robot from a random initial location through the room so that the room geometry is guaranteed to be revealed. Effectiveness of the proposed approach is extensively validated in a synthetic environment, where the results obtained are highly promising.

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http://hdl.handle.net/10453/134071