Neuromorphic audio–visual sensor fusion on a sound-localizing robot
نویسندگان
چکیده
منابع مشابه
Neuromorphic Audio–Visual Sensor Fusion on a Sound-Localizing Robot
This paper presents the first robotic system featuring audio-visual (AV) sensor fusion with neuromorphic sensors. We combine a pair of silicon cochleae and a silicon retina on a robotic platform to allow the robot to learn sound localization through self motion and visual feedback, using an adaptive ITD-based sound localization algorithm. After training, the robot can localize sound sources (wh...
متن کاملSensor Fusion for Localizing a Mobile Robot Outside of Buildings
In this paper we show that it is possible to extend a mobile indoor service robot, making it capable of performing autonomous transportation tasks in outdoor environments. While the higher-level software (like planners, schedulers and collision avoidance) is no di erent than that used in indoor vehicles and therefore both well known and reliable, the sensor fusion layer is the challenging part ...
متن کاملA Neuromorphic Monaural Sound Localizer
We describe the first single microphone sound localization system and its inspiration from theories of human monaural sound localization. Reflections and diffractions caused by the external ear (pinna) allow humans to estimate sound source elevations using only one ear. Our single microphone localization model relies on a specially shaped reflecting structure that serves the role of the pinna. ...
متن کاملRobust sound localization using multi-source audiovisual information fusion
This paper illustrates the synergic advantages of a multi-modal sound localization system utilizing 2 cameras and a 3-element microphone array. The 2 cameras were used as part of a stereo feature-detection based visual object localization system, while the microphones were combined to produce a sound localization system incorporating a Temporal Power Fusion (TPF) algorithm. The cameras and micr...
متن کاملSensor Management for Identity Fusion on a Mobile Robot
This paper addresses the problem of identity fusion, i.e. the problem of selecting one of several identity hypotheses concerning an observed object. Two problems are considered. Firstly the problem of representing and fusing measurements relating to identity hypotheses is treated. Here it is shown that if the hypotheses are chosen to be concerned with object properties rather than object identi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Frontiers in Neuroscience
سال: 2012
ISSN: 1662-453X
DOI: 10.3389/fnins.2012.00021