Graph-SLAM based calibration of an embedded asynchronous microphone array for outdoor robotic target tracking

Su, D; Miro, JV; Vidal-Calleja, T

Graph-SLAM based calibration of an embedded asynchronous microphone array for outdoor robotic target tracking

Su, D Miro, JV

Vidal-Calleja, T

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Publication Type:: Conference Proceeding
Citation:: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2015, pp. 641 - 648
Issue Date:: 2015-01-01

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Field	Value	Language
dc.contributor.author	Su, D	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Vidal-Calleja, T https://orcid.org/0000-0002-5763-9644	en_US
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2015, pp. 641 - 648	en_US
dc.identifier.isbn	9789814725231	en_US
dc.identifier.uri	http://hdl.handle.net/10453/37834
dc.description.abstract	© 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents a strategy for sound source localisation using an embedded asynchronous microphone array for robotic target tracking application. Conventional microphone array technologies require a multi-channel A/D converter for inter-microphone synchronization making the technology relatively expensive. In our method, a synchronization free embedded asynchronous microphone array has released this requirement. The microphone array needs self calibration using graph-based SLAM method, which estimates starting time offset and clock difference/drift rate of each microphone channel using Gauss-Newton least square optimization. The proposed method is suitable for target tracking applications.	en_US
dc.relation.ispartof	Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015	en_US
dc.title	Graph-SLAM based calibration of an embedded asynchronous microphone array for outdoor robotic target tracking	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0913 Mechanical Engineering	en_US
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
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

© 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents a strategy for sound source localisation using an embedded asynchronous microphone array for robotic target tracking application. Conventional microphone array technologies require a multi-channel A/D converter for inter-microphone synchronization making the technology relatively expensive. In our method, a synchronization free embedded asynchronous microphone array has released this requirement. The microphone array needs self calibration using graph-based SLAM method, which estimates starting time offset and clock difference/drift rate of each microphone channel using Gauss-Newton least square optimization. The proposed method is suitable for target tracking applications.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/37834