NDLI: Information-Driven Active Audio-Visual Source Localization

Content Provider	PubMed Central
Author	Schult, Niclas Reineking, Thomas Kluss, Thorsten Zetzsche, Christoph
Editor	Wang, Long
Copyright Year	2015
Abstract	We present a system for sensorimotor audio-visual source localization on a mobile robot. We utilize a particle filter for the combination of audio-visual information and for the temporal integration of consecutive measurements. Although the system only measures the current direction of the source, the position of the source can be estimated because the robot is able to move and can therefore obtain measurements from different directions. These actions by the robot successively reduce uncertainty about the source’s position. An information gain mechanism is used for selecting the most informative actions in order to minimize the number of actions required to achieve accurate and precise position estimates in azimuth and distance. We show that this mechanism is an efficient solution to the action selection problem for source localization, and that it is able to produce precise position estimates despite simplified unisensory preprocessing. Because of the robot’s mobility, this approach is suitable for use in complex and cluttered environments. We present qualitative and quantitative results of the system’s performance and discuss possible areas of application.
Related Links	http://dx.doi.org/10.1371/journal.pone.0137057
Starting Page	137057
File Format	PDF
ISSN	19326203
e-ISSN	19326203
Journal	PLoS ONE
Issue Number	9
Volume Number	10
Language	English
Publisher	Public Library of Science
Publisher Date	2015-09-01
Access Restriction	Open
Rights Holder	Public Library of Science
Subject Keyword	Biochemistry, Genetics and Molecular Biology(all) Agricultural and Biological Sciences(all) Medicine(all) Research in Higher Education
Content Type	Text
Resource Type	Article
Subject	Multidisciplinary

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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