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JRM Vol.29 No.1 pp. 94-104
doi: 10.20965/jrm.2017.p0094
(2017)

Paper:

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Probabilistic 3D Sound Source Mapping System Based on Monte Carlo Localization Using Microphone Array and LIDAR

Ryo Tanabe*,**, Yoko Sasaki**, and Hiroshi Takemura*,**

*Department of Mechanical Engineering, Tokyo University of Science
2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan

**National Institute of Advanced Industrial Science and Technology (AIST)
2-3-26 Aomi, Kouto-ku, Tokyo 135-0064, Japan

Received:
July 23, 2016
Accepted:
November 1, 2016
Published:
February 20, 2017
Creative Commons License
Keywords:
sound source mapping, microphone array, 3D LIDAR, robot audition
Abstract
3D sound source environmental map

3D sound source environmental map

The study proposes a probabilistic 3D sound source mapping system for a moving sensor unit. A microphone array is used for sound source localization and tracking based on the multiple signal classification (MUSIC) algorithm and a multiple-target tracking algorithm. Laser imaging detection and ranging (LIDAR) is used to generate a 3D geometric map and estimate the location of its six-degrees-of-freedom (6 DoF) using the state-of-the-art gyro-integrated iterative closest point simultaneous localization and mapping (G-ICP SLAM) method. Combining these modules provides sound detection in 3D global space for a moving robot. The sound position is then estimated using Monte Carlo localization from the time series of a tracked sound stream. The results of experiments using the hand-held sensor unit indicate that the method is effective for arbitrary motions of the sensor unit in environments with multiple sound sources.
Cite this article as:
R. Tanabe, Y. Sasaki, and H. Takemura, “Probabilistic 3D Sound Source Mapping System Based on Monte Carlo Localization Using Microphone Array and LIDAR,” J. Robot. Mechatron., Vol.29 No.1, pp. 94-104, 2017.
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