Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    3D posture estimation for a hose-shaped robot is critical in rescue activities due to complex physical environments. Conventional sound-based posture estimation assumes rather flat physical environments and focuses only on 2D, resulting in poor performance in real world environments with rubble. This paper presents novel 3D posture estimation by exploiting microphones and accelerometers. The idea of our method is to compensate the lack of posture information obtained by sound-based time-difference-of arrival (TDOA) with the tilt information obtained from accelerometers. This compensation is formulated as a nonlinear state-space model and solved by the unscented Kalman filter. Experiments are conducted by using a 3m hose-shaped robot with eight units of a microphone and an accelerometer and seven units of a loudspeaker and a vibration motor deployed in a simple 3D structure. Experimental results demonstrate that our method reduces the errors of initial states to about 20 cm in the 3D space. If the initial errors of initial states are less than 20 %, our method can estimate the correct 3D posture in real-time.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages5580-5586
    Number of pages7
    Volume2015-December
    ISBN (Print)9781479999941
    DOIs
    Publication statusPublished - 2015 Dec 11
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
    Duration: 2015 Sep 282015 Oct 2

    Other

    OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    CountryGermany
    CityHamburg
    Period15/9/2815/10/2

    Keywords

    • Accelerometers
    • Estimation
    • Loudspeakers
    • Microphones
    • Robot sensing systems
    • Three-dimensional displays

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Fingerprint Dive into the research topics of 'Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot'. Together they form a unique fingerprint.

  • Cite this

    Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., Nakadai, K., Yoshii, K., & Okuno, H. G. (2015). Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 5580-5586). [7354168] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354168