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INTEGRATED DISPLACEMENT TRACKING AND SOUND LOCALIZATION Parham Aarabi, Qing Hua Wang, Masoud Yeganegi
 

Summary: INTEGRATED DISPLACEMENT TRACKING AND SOUND LOCALIZATION
Parham Aarabi, Qing Hua Wang, Masoud Yeganegi
The Artificial Perception Laboratory, University of Toronto
{parham,wangq,yeganeg}@ecf.utoronto.ca
ABSTRACT
An algorithm for the robust localization of a vehicle using
both displacement tracking and sound localization is pro-
posed. The displacement tracking is performed by optical
encoders that enable the turn angle and the movement dis-
tance of the vehicle to be estimated. The sound localization
utilizes a speaker mounted on the vehicle and an array of 24
microphones deployed in the environment. The two modal-
ities are integrated by modeling the displacement tracking
uncertainty by a Gaussian Mixture Model (GMM) and com-
bining it with the probability distribution obtained from the
sound localization system. It is shown that the proposed in-
tegrated system results in an average localization error (at
best 11cm) that is better than either modality alone.
1. INTRODUCTION
The precise and robust localization of an autonomous vehi-

  

Source: Aarabi, Parham - Department of Electrical and Computer Engineering, University of Toronto

 

Collections: Computer Technologies and Information Sciences