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=== Acoustic SLAM ===
An extension of the common SLAM problem has been applied to the acoustic ___domain, where environments are represented by the three-dimensional (3D) position of sound sources, termed aSLAM ('''A'''coustic '''S'''imultaneous '''L'''ocalization and '''M'''apping).<ref>{{Cite journal|last1=Evers|first1=Christine|last2=Naylor|first2=Patrick A.|date=September 2018|title=Acoustic SLAM|journal=IEEE/ACM Transactions on Audio, Speech, and Language Processing|volume=26|issue=9|pages=1484–1498|doi=10.1109/TASLP.2018.2828321|issn=2329-9290|url=https://eprints.soton.ac.uk/437941/1/08340823.pdf|doi-access=free}}</ref> Early implementations of this technique have used direction-of-arrival (DoA) estimates of the sound source ___location, and rely on principal techniques of [[sound localization]] to determine source locations. An observer, or robot must be equipped with a [[microphone array]] to enable use of Acoustic SLAM, so that DoA features are properly estimated. Acoustic SLAM has paved foundations for further studies in acoustic scene mapping, and can play an important role in human-robot interaction through speech. To map multiple, and occasionally intermittent sound sources, an acoustic SLAM system uses foundations in random finite set theory to handle the varying presence of acoustic landmarks.<ref>{{Cite journal|last=Mahler|first=R.P.S.|date=October 2003|title=Multitarget bayes filtering via first-order multitarget moments|journal=IEEE Transactions on Aerospace and Electronic Systems|language=en|volume=39|issue=4|pages=1152–1178|doi=10.1109/TAES.2003.1261119|bibcode=2003ITAES..39.1152M|issn=0018-9251}}</ref> However, the nature of acoustically derived features leaves Acoustic SLAM susceptible to problems of reverberation, inactivity, and noise within an environment.
=== Audiovisual SLAM ===
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