Abstract
This chapter presents a technical research contribution in the audio for robotics field where ROS was used for validating the results. More specifically it deals with 2D Audio Localization using only the Directions of Arrival (DOAs) of a fixed acoustic source coming from an audio sensor network and proposes a method for estimating the position of the acoustic source using a Gaussian Probability over DOA approach (GP-DOA). This method was thought for robotics purposes and introduces a new perspective of the audio-video synergy using video sensor localization in the environment for extrinsic audio sensor calibration. Test results using Microsoft Kinects as DOA-sensors mounted on robots within the ROS framework, show that the algorithm is robust and modular and prove that the approach can be easily used for robotics applications. The second part is dedicated to the detailed description of the implemented ROS package.
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Notes
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The variance chart is omitted because resembles the one of the mean.
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Note: all figures has the following well-known common notation for 3D axes: x axes are in red, y axes are in green and z axes are in blue.
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Short video that shows one of the twenty tests made for the second test visible at url https://www.youtube.com/watch?v=TVAQ-sFSpF8.
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Acknowledgments
We strongly thank the Université Pierre-et-Marie-Curie (UPMC) and the Institut des Systèmes Intelligents et de Robotique (ISIR) for hosting Ph.D. Student Riccardo Levorato during the first phases of the project. A special thank goes to Prof. Mohamed Chetouani, Post-Doc Salvatore Maria Anzalone and Ph.D. student Stéphane Michelet for their indispensable support and help.
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Levorato, R., Pagello, E. (2016). Acoustic Source Localization for Robotics Networks. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 625. Springer, Cham. https://doi.org/10.1007/978-3-319-26054-9_17
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DOI: https://doi.org/10.1007/978-3-319-26054-9_17
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