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MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION

Abstract: 

This study introduces a machine hearing system for robot audition, which enables a robotic agent to pro-actively minimize the uncertainty of sound source location estimates through motion. The proposed system is based on an active exploration approach, providing a means to model and predict effects of the agent's future motions on localization uncertainty in a probabilistic manner. Particle filtering is used to estimate the posterior probability density function of the source position from binaural measurements, enabling to jointly assess azimuth and distance of the source. The framework allows to infer and refine a policy to select appropriate actions via a Monte Carlo exploration approach. Experiments in simulated reverberant conditions are conducted, showing that active exploration and the incorporation of distance estimation significantly improve localization performance.

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Paper Details

Authors:
Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa
Submitted On:
1 March 2017 - 5:16am
Short Link:
Type:
Poster
Event:
Presenter's Name:
Christopher Schymura
Paper Code:
1653
Document Year:
2017
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Document Files

poster_icassp2017.pdf

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[1] Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa, "MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION", IEEE SigPort, 2017. [Online]. Available: http://sigport.org/1543. Accessed: Jun. 25, 2017.
@article{1543-17,
url = {http://sigport.org/1543},
author = {Christopher Schymura; Juan Diego Rios Grajales; Dorothea Kolossa },
publisher = {IEEE SigPort},
title = {MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION},
year = {2017} }
TY - EJOUR
T1 - MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION
AU - Christopher Schymura; Juan Diego Rios Grajales; Dorothea Kolossa
PY - 2017
PB - IEEE SigPort
UR - http://sigport.org/1543
ER -
Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa. (2017). MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION. IEEE SigPort. http://sigport.org/1543
Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa, 2017. MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION. Available at: http://sigport.org/1543.
Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa. (2017). "MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION." Web.
1. Christopher Schymura, Juan Diego Rios Grajales, Dorothea Kolossa. MONTE CARLO EXPLORATION FOR ACTIVE BINAURAL LOCALIZATION [Internet]. IEEE SigPort; 2017. Available from : http://sigport.org/1543