Publication

Experimental Setup of Sound Emitting and Processing Robot for Acoustic-Based SLAM Applications

2015
Student Projects

Abstract

An experimental framework for an echolocator robot was developed and tested. The framework includes an image processing and computer vision algorithm for visual localization, odometry analysis and the tools for calculating room impulse responses. The performance of each method was compared and first analyses of the room impulse responses were provided for different experimental setups and at multiple positions. The precision obtained with visual localization was on the order of 1 cm and significantly better than the results obtained with odometry, for which the positioning errors accumulate. All results and tools were documented for later use for EchoSLAM experiments within the laboratory.

Official source

https://infoscience.epfl.ch/entities/publication/6916f6c2-becf-4447-ad4c-07a3896ff570

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2015
Student Projects

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/6916f6c2-becf-4447-ad4c-07a3896ff570

About this result

Related concepts (32)

Simultaneous localization and mapping

Simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken or the egg problem, there are several algorithms known to solve it in, at least approximately, tractable time for certain environments. Popular approximate solution methods include the particle filter, extended Kalman filter, covariance intersection, and GraphSLAM.

Computer vision

Computer vision tasks include methods for , , and understanding digital images, and extraction of high-dimensional data from the real world in order to produce numerical or symbolic information, e.g. in the forms of decisions. Understanding in this context means the transformation of visual images (the input to the retina in the human analog) into descriptions of the world that make sense to thought processes and can elicit appropriate action.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

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Experimental Setup of Sound Emitting and Processing Robot for Acoustic-Based SLAM Applications

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