Localizing Victims Through Sound and Probabilistic Grid Maps in an Urban Search and Rescue Scenario

  • Holger Kenn
  • Andreas Pfeil
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


Sound source localization can be used in the Robocup Rescue Robots League as a sensor that is capable to autonomously detect victims that emit sound. Using differential time of flight measurements through energy cross-spectrum evaluation of the sound signals, the angular direction to multiple sound sources can be determined with a pair of microphones for SNRs better than -8dB. Assuming that the robot pose is known, this information is sufficient to create probabilistic occupancy grid map of the sound sources in the environment and thus localize the victims in a global map. This has been demonstrated using example measurements in an urban search and rescue scenario.


Mobile Robot Sound Source Sensor Reading Occupancy Grid Angular Sector 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Holger Kenn
    • 1
  • Andreas Pfeil
    • 2
  1. 1.Technologie-Zentrum InformatikUniversität BremenGermany
  2. 2.School of Engineering and ScienceInternational University BremenGermany

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