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Audio-visual based non-line-of-sight sound source localization: A feasibility study

机译：基于视听的非视线声源定位：可行性研究

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摘要

This paper examines the feasibility of using an audio-visual methodology for sound source localization of acoustic sources hidden from direct view. A four channel microphone array is used in conjunction with LiDAR and 2D/3D mapping to merge estimated angles of arrival with room parameters for sound source localization. The time difference of arrival (TDOA) approach is used to estimate the angle(s) of arrival from an unknown sound source and a reverse ray-tracing approach is used to identify a possible source location behind a barrier/obstacle. Using a single-source zone approach based TDOA algorithm, a variety of estimated source directions are identified, each arising from multiple sound sources due to reflections in the room. Results are combined with a three-dimensional map of the space acquired from a ground robot equipped with a 2D SICK LMS LiDAR, and a reverse ray tracing approach is used to triangulate the likely position of the source. Tests were performed in both controlled and uncontrolled environments and the method was capable of finding the hidden source to within 0.5 m accuracy, which is approximately 10% of the length of an automobile. It is proposed that a methodology like this could be used to add sound source localization capabilities on autonomous vehicles to detect the position of emergency/warning sounds in traffic that may be shielded from the direct field of view. (C) 2020 Elsevier Ltd. All rights reserved.
机译：本文介绍了使用从直接视图隐藏的声源定位的声音视觉方法的可行性。四通道麦克风阵列与LIDAR和2D / 3D映射结合使用，以将估计的到达角度与用于声源定位的房间参数合并。到达（TDOA）方法的时间差用于估计来自未知声源的到达的角度，并且反向光线跟踪方法用于识别障碍/障碍物后面的可能源位置。使用基于单源区接近的TDOA算法，识别各种估计的源方向，每个估计的源方向由于房间中的反射而来自多个声源。结果与从配备有2D生病LIDAR的地面机器人获取的空间的三维图组合，并且使用反向光线跟踪方法来三角化源的可能位置。在受控和不受控制的环境中进行测试，该方法能够在0.5米的精度范围内找到隐藏的源，这是汽车长度的约10％。建议，这样的方法可用于在自动车辆上添加声源定位能力，以检测可以从直接视野屏蔽的流量中的紧急/警告声音的位置。 （c）2020 elestvier有限公司保留所有权利。

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  • 来源
    《Applied Acoustics》 |2021年第1期|107674.1-107674.13|共13页
  • 作者

    King E. A.; Tatoglu A.; Iglesias D.; Matriss A.;

  • 作者单位

    Univ Hartford Dept Mech Engn Acoust Program & Lab 200 Bloomfield Hartford CT 06117 USA;

    Univ Hartford Dept Mech Engn Hartford CT 06117 USA;

    Univ Hartford Dept Mech Engn Acoust Program & Lab 200 Bloomfield Hartford CT 06117 USA;

    Univ Hartford Dept Mech Engn Acoust Program & Lab 200 Bloomfield Hartford CT 06117 USA;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Sound source localization; TDOA; Autonomous vehicles; Safety; Grid mapping;

    机译：声源定位;TDOA;自动车辆;安全;网格映射;

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