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dc.contributor.authorWang, Chieh-Chihen_US
dc.contributor.authorLin, Chi-Haoen_US
dc.contributor.authorHu, Jwu-Shengen_US
dc.date.accessioned2014-12-08T15:10:27Z-
dc.date.available2014-12-08T15:10:27Z-
dc.date.issued2009en_US
dc.identifier.issn0169-1864en_US
dc.identifier.urihttp://hdl.handle.net/11536/7981-
dc.identifier.urihttp://dx.doi.org/10.1163/016918609X12496339921975en_US
dc.description.abstractAuditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009en_US
dc.language.isoen_USen_US
dc.subjectAuditory perceptionen_US
dc.subjectmicrophone arrayen_US
dc.subjectstructure from sounden_US
dc.subjectunscented transformen_US
dc.titleProbabilistic Structure from Sounden_US
dc.typeArticleen_US
dc.identifier.doi10.1163/016918609X12496339921975en_US
dc.identifier.journalADVANCED ROBOTICSen_US
dc.citation.volume23en_US
dc.citation.issue12-13en_US
dc.citation.spage1687en_US
dc.citation.epage1702en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000269973500008-
dc.citation.woscount0-
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