2019/07/02 by Nguyen, Linh, Miro, Jaime Valls, Qiu, Xiaojun
#Audio and Speech Processing (eess.AS) #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Signal Processing (eess.SP) #Sound (cs.SD) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.1907.01169
Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is a challenging proposition. Existing methods have been proposed to reconstruct a room from the room impulse responses (RIRs). However, the sound source and microphones must be deployed in a feasible region of the room for it to work, which is impractical when the room is unknown. This work propose to employ a robot equipped with a sound source and four acoustic sensors, to follow a proposed path planning strategy to moves around the room to collect first image sources for room geometry estimation. The strategy can effectively drives the robot from a random initial location through the room so that the room geometry is guaranteed to be revealed. Effectiveness of the proposed approach is extensively validated in a synthetic environment, where the results obtained are highly promising.