BibTex format
@inproceedings{Evers:2016,
author = {Evers, C and Moore, A and Naylor, P},
title = {Towards Informative Path Planning for Acoustic SLAM},
url = {http://hdl.handle.net/10044/1/38886},
year = {2016}
}
Citation
RIS format (EndNote, RefMan)
TY - CPAPER
AB - Acoustic scene mapping is a challenging task as microphonearrays can often localize sound sources only interms of their directions. Spatial diversity can be exploitedconstructively to infer source-sensor range whenusing microphone arrays installed on moving platforms,such as robots. As the absolute location of a moving robotis often unknown in practice, Acoustic SimultaneousLocalization And Mapping (a-SLAM) is required in orderto localize the moving robot’s positions and jointlymap the sound sources. Using a novel a-SLAM approach,this paper investigates the impact of the choice of robotpaths on source mapping accuracy. Simulation results demonstratethat a-SLAM performance can be improved byinformatively planning robot paths.
AU - Evers,C
AU - Moore,A
AU - Naylor,P
PY - 2016///
TI - Towards Informative Path Planning for Acoustic SLAM
UR - http://hdl.handle.net/10044/1/38886
ER -
Contact
For more information about the group, please contact:
Dr Dan Goodman
+44 (0)20 7594 6264
d.goodman@imperial.ac.uk