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Audio-based robot control from interchannel level difference and absolute sound energy

Aly Magassouba 1 Nancy Bertin 2 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 PANAMA - Parcimonie et Nouveaux Algorithmes pour le Signal et la Modélisation Audio
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper is a follow-up way to our previous works regarding audio-based control, that is an alternative method for auditory-based robot tasks. Conversely to classic methods oriented towards sound source localization, audio- based control is a sensor-based framework that does not localize the sound source. Instead, auditory features are used as inputs of a closed-loop control scheme. The audio-based control method presented in this paper relies on the sound signal energy measured by two microphones. By combining the interchannel level difference to the acoustic absolute energy level, the control scheme allows positioning the robot with respect to the sound source at a given distance and orientation. Moreover this method has the benefit of a low computation cost, since it only relies on the signal energy measurement. Experimental results conducted on a mobile robot validate the relevance and the robustness of this approach in dynamic and real world conditions.
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https://hal.inria.fr/hal-01355394
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Submitted on : Tuesday, August 23, 2016 - 2:09:52 PM
Last modification on : Friday, July 10, 2020 - 4:11:15 PM
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Aly Magassouba, Nancy Bertin, François Chaumette. Audio-based robot control from interchannel level difference and absolute sound energy. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. pp.1992-1999. ⟨hal-01355394⟩

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