TY - GEN
T1 - Multiple acoustical holography method for localization of objects in broad range using audible sound
AU - Niwa, Haruhiko
AU - Ogata, Tetsuya
AU - Komatani, Kazunori
AU - Okuno, Hiroshi G.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Audible sound
KW - Indoor localization
KW - Multi-sensor processing
KW - and acoustical holography
UR - http://www.scopus.com/inward/record.url?scp=34250621351&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250621351&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281844
DO - 10.1109/IROS.2006.281844
M3 - Conference contribution
AN - SCOPUS:34250621351
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1145
EP - 1150
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -