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Citation

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}
}
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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  -
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