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 publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1146-1151
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

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Keywords

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

ASJC Scopus subject areas

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

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 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1146-1151). [4058520] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281844