A Novel Development of Acoustic SLAM

O'Reilly, Joseph and Cirstea, Silvia and Cirstea, Marcian N. and Zhang, Jin (2020) A Novel Development of Acoustic SLAM. In: 2019 International Aegean Conference on Electrical Machines and Power Electronics (ACEMP) & 2019 International Conference on Optimization of Electrical and Electronic Equipment (OPTIM), Istanbul, Turkey.

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Abstract

This paper will explore and develop on the novel idea of using acoustics to map and navigate indoor environments. The system requirements, modelling and evaluation are addressed, alongside the design and development process, testing methods, desired outcomes and practical applications. Previous work carried out in this field demonstrates that it is possible to use first order echoes to map a room. The current paper is reporting on initial research to further develop such algorithms into a simultaneous localization and mapping algorithm, having the capability to not only map rooms with sound but to also navigate rooms as well. Such novel system is intended to help visually impaired people to navigate rooms by making use of sounds and their echoes, thus `listening' their way into navigating through a room. The paper overviews the approach taken towards developing a navigation algorithm using sound, as well as the associated modelling, simulation and testing strategies enabling the desired outcomes of this type of system.

Item Type:	Conference or Workshop Item (Paper)
Keywords:	Kalman filters, autonomous systems, acoustical engineering, navigation, simulation localization and mappying, acoustic signal processing
Faculty:	Faculty of Science & Engineering
SWORD Depositor:	Symplectic User
Depositing User:	Symplectic User
Date Deposited:	06 Sep 2019 13:29
Last Modified:	08 Apr 2022 14:42
URI:	https://arro.anglia.ac.uk/id/eprint/704708

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