Multiple acoustical holography method for localization of objects in broad range using audible sound

Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno

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

1 Citation (Scopus)

Abstract

This paper describes a new acoustic localization method using audible sound, which can be applied over a broader range of search directions. In the field of Robotics, most conventional indoor localization systems based on sonar range finders use ultrasound to obtain a highly accurate distance. Because ultrasound has high directivity, many measurements are required to localize objects in a large space. To achieve localization with one-time measurement, we use audible sounds. We then calculate an intensity field of the reflection sound to estimate object positions. Although acoustical holography (AH) is a well-known technique to do this, it has problems in that it generates false images. We propose multiple AH (MAH) to solve this problem. The method is used to divide a measurement plane into sub-planes and to apply AH to each sub-plane. By integrating the results of applying AH to the sub-planes, false images can be suppressed because the positions of the false images differ depending on the position of the sub-plane. In addition, we use multiple frequencies to advance an accuracy of the localization based on MAH in a real environment. We constructed a localization system with only one speaker and a microphone array. In both simulation and actual experiments, we confirmed that MAH was effective method for the suppression of false image and could be used within the range of an angle view of 120 deg.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1146-1151
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
Duration: 2006 Oct 92006 Oct 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CityBeijing
Period06/10/906/10/15

Fingerprint

Holography
Acoustic waves
Ultrasonics
Range finders
Sonar
Microphones
Time measurement
Robotics
Acoustics
Experiments

Keywords

  • and acoustical holography
  • Audible sound
  • Indoor localization
  • Multi-sensor processing

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Niwa, H., Ogata, T., Komatani, K., & Okuno, H. G. (2006). Multiple acoustical holography method for localization of objects in broad range using audible sound. In IEEE International Conference on Intelligent Robots and Systems (pp. 1146-1151). [4058520] https://doi.org/10.1109/IROS.2006.281844

Multiple acoustical holography method for localization of objects in broad range using audible sound. / Niwa, Haruhiko; Ogata, Tetsuya; Komatani, Kazunori; Okuno, Hiroshi G.

IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1146-1151 4058520.

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

Niwa, H, Ogata, T, Komatani, K & Okuno, HG 2006, Multiple acoustical holography method for localization of objects in broad range using audible sound. in IEEE International Conference on Intelligent Robots and Systems., 4058520, pp. 1146-1151, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 06/10/9. https://doi.org/10.1109/IROS.2006.281844
Niwa H, Ogata T, Komatani K, Okuno HG. Multiple acoustical holography method for localization of objects in broad range using audible sound. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1146-1151. 4058520 https://doi.org/10.1109/IROS.2006.281844
Niwa, Haruhiko ; Ogata, Tetsuya ; Komatani, Kazunori ; Okuno, Hiroshi G. / Multiple acoustical holography method for localization of objects in broad range using audible sound. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 1146-1151
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