Auditory Occupancy Grids: Sound Localization on a Mobile Robot

B.P. DeJong (USA)


Auditory occupancy grids, robot sensing, mobile robots,probabilistic robotics, sound localization.


This paper describes the use of auditory occupancy grids (AOGs) for mapping of a mobile robot’s acoustic en vironment. An AOG is a probabilistic map of sound source locations generated from multiple measurements using probabilistic robotics and sound localization tech niques. The mapping is simulated and then successfully implemented on a three-microphone mobile robot with four sound sources. Using the robot’s inherent advantage of mo bility, the AOG correctly locates the sound sources from only a few measurements.

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