Three-Dimensional Auditory Occupancy Grids: Accuracy and Robustness

Brian P. DeJong


auditory occupancy grids, robot sensing, computer network


This paper presents the extension of auditory occupancy grids (AOGs) to three dimensions, to map the acoustic environment around a mobile robot. The three-dimensional AOGs are able to locate four sound sources in three-dimensions using four microphones and only nine measurements along the bottom plane of the workspace. Comparative robustness tests show that the three-dimensional AOGs are nearly identically as robust to source location as two-dimensional AOGs.

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