Conference
Towards information-based feedback control for binaural active localization
| العنوان: | Towards information-based feedback control for binaural active localization |
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| المؤلفون: | Bustamante, Gabriel, Danès, Patrick, Forgue, Thomas, Podlubne, Ariel |
| المساهمون: | Équipe Robotique, Action et Perception (LAAS-RAP), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| المصدر: | IEEE International Conference on Acoustics, Speech and Signal Processing ; https://laas.hal.science/hal-01969304 ; IEEE International Conference on Acoustics, Speech and Signal Processing, Mar 2016, Shanghai, China. 5p., ⟨10.1109/ICASSP.2016.7472894⟩ |
| بيانات النشر: | HAL CCSD |
| سنة النشر: | 2016 |
| المجموعة: | Université Toulouse III - Paul Sabatier: HAL-UPS |
| مصطلحات موضوعية: | active localization, stochastic filtering, information theory, information based control, robot audition, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing |
| جغرافية الموضوع: | Shanghai, China |
| الوصف: | International audience ; This paper takes place within the field of sound source localization by combining the signals sensed by a binaural head with its motor commands. Such so-called "active" schemes are known to overcome limitations occurring in the static context, such as front-back ambiguities or distance non-observability. On the basis of a stochastic filter, which approximates the posterior probability density function of the sensor-to-source situation, a feedback controller of the sensor motion is proposed so as to reduce the associated uncertainty. An information-theoretic analysis of the effect of the sensor motion on the localization uncertainty is first conducted. Then, a gradient ascent scheme is used to drive the head towards the area of minimum uncertainty (maximum information). An evaluation on simulated scenarios, as well as on data coming from real experiments, is included. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| Relation: | hal-01969304; https://laas.hal.science/hal-01969304; https://laas.hal.science/hal-01969304/document; https://laas.hal.science/hal-01969304/file/icassp2016_definitif.pdf |
| DOI: | 10.1109/ICASSP.2016.7472894 |
| الاتاحة: | https://laas.hal.science/hal-01969304 https://laas.hal.science/hal-01969304/document https://laas.hal.science/hal-01969304/file/icassp2016_definitif.pdf https://doi.org/10.1109/ICASSP.2016.7472894 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.FE43F383 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/ICASSP.2016.7472894 |
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