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Estimation of a nonvisible field-of-view mobile target incorporating optical and acoustic sensors

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Abstract

This paper presents a nonvisible field-of-view (NFOV) target estimation approach that incorporates optical and acoustic sensors. An optical sensor can accurately localize a target in its field-of-view whereas the acoustic sensor could estimate the target location over a much larger space, but only with limited accuracy. A recursive Bayesian estimation framework where observations of the optical and acoustic sensors are probabilistically treated and fused is proposed in this paper. A technique to construct the observation likelihood when two microphones are used as the acoustic sensor is also described. The proposed technique derives and stores the interaural level difference of observations from the two microphones for different target positions in advance and constructs the likelihood through correlation. A parametric study of the proposed acoustic sensing technique in a controlled test environment, and experiments with an NFOV target in an actual indoor environment are presented to demonstrate the capability of the proposed technique.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA

    Kuya Takami & Tomonari Furukawa

  2. Department of Mechanical System Engineering, Kumamoto University, Kumamoto, Japan

    Makoto Kumon & Daisuke Kimoto

  3. Center for Autonomous Systems, University of Technology, Sydney, Ultimo, NSW, Australia

    Tomonari Furukawa & Gamini Dissanayake

Authors
  1. Kuya Takami
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  2. Tomonari Furukawa
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  3. Makoto Kumon
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  4. Daisuke Kimoto
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  5. Gamini Dissanayake
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Correspondence to Kuya Takami.

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Takami, K., Furukawa, T., Kumon, M. et al. Estimation of a nonvisible field-of-view mobile target incorporating optical and acoustic sensors. Auton Robot 40, 343–359 (2016). https://doi.org/10.1007/s10514-015-9473-9

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  • DOI: https://doi.org/10.1007/s10514-015-9473-9

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