Two-and three-dimensional auditory occupancy grids with a mobile robot

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20141117439453 [1 ]
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[1] DeJong, Brian P.
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DeJong, B.P. (b.dejong@cmich.edu) | 1600年 / Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada卷 / 29期
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This paper presents the simulation; robustness and implementation of two- and three-dimensional auditory occupancy grids (AOGs) on a mobile robot. In two dimensions; AOGs are successfully applied on a three-microphone robot in four-sound-source environments; first in a simulation and then on a physical robot. The two-dimensional AOGs are also found to be robust to source positioning. In three dimensions; AOGs are successful on a simulated four-microphone robot in four-source environments and are found to also be robust to source positioning. AOGs are shown to be a viable method for gaining knowledge about the acoustical environment;
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