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

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1145-1150
ページ数6
ISBN(印刷版)142440259X, 9781424402595
DOI
出版ステータスPublished - 2006
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

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

ASJC Scopus subject areas

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

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