Direct and Residual Subspace Decomposition of Spatial Room Impulse Responses

Psychoacoustic experiments have shown that directional properties of the direct sound, salient reflections, and the late reverberation of an acoustic room response can have a distinct influence on the auditory perception of a given room. Spatial room impulse responses (SRIRs) capture those properties and thus are used for direction-dependent room acoustic analysis and virtual acoustic rendering. This work proposes a subspace method that decomposes SRIRs into a direct part, which comprises the direct sound and the salient reflections, and a residual, to facilitate enhanced analysis and rendering methods by providing individual access to these components. The proposed method is based on the generalized singular value decomposition and interprets the residual as noise that is to be separated from the other components of the reverberation. Large generalized singular values are attributed to the direct part, which is then obtained as a low-rank approximation of the SRIR. By advancing from the end of the SRIR toward the beginning while iteratively updating the residual estimate, the method adapts to spatio-temporal variations of the residual. The method is evaluated using a spatio-spectral error measure and simulated SRIRs of different rooms, microphone arrays, and ratios of direct sound to residual energy. The proposed method creates lower errors than existing approaches in all tested scenarios, including a scenario with two simultaneous reflections. A case study with measured SRIRs shows the applicability of the method under real-world acoustic conditions. A reference implementation is provided

Experimental methodology for turbocompressor in-duct noise evaluation based on beamforming wave decomposition

An experimental methodology is proposed to assess the noise emission of centrifugal turbocompressors like those of automotive turbochargers. A step-by-step procedure is detailed, starting from the theoretical considerations of sound measurement in flow ducts and examining specific experimental setup guidelines and signal processing routines. Special care is taken regarding some limiting factors that adversely affect the measuring of sound intensity in ducts, namely calibration, sensor placement and frequency ranges and restrictions. In order to provide illustrative examples of the proposed techniques and results, the methodology has been applied to the acoustic evaluation of a small automotive turbocharger in a flow bench. Samples of raw pressure spectra, decomposed pressure waves, calibration results, accurate surge characterization and final compressor noise maps and estimated spectrograms are provided. The analysis of selected frequency bands successfully shows how different, known noise phenomena of particular interest such as mid-frequency "whoosh noise" and low-frequency surge onset are correlated with operating conditions of the turbocharger. Comparison against external inlet orifice intensity measurements shows good correlation and improvement with respect to alternative wave decomposition techniques.The equipment used in this work has been partially supported by the Spanish Ministerio de Economia y Competitividad through grant no. TRA2012-36954 and by FEDER project funds "Dotacion de infraestructuras cientifico-tecnicas para el Centro Integral de Mejora Energetica y Medioambiental de Sistemas de Transporte (CiMeT), (FEDER-ICTS-2012-06)" framed in the operational program of unique scientific and technical infrastructure of the Spanish Ministerio de Economia y Competitividad. J. Garcia-Tiscar is partially supported through contract FPI-S2-2015-1530 of the Programa de Apoyo para la Investigacion y Desarrollo (PAID) of Universitat Politecnica de Valencia.Torregrosa, AJ.; Broatch Jacobi, JA.; Margot, X.; García Tíscar, J. (2016). Experimental methodology for turbocompressor in-duct noise evaluation based on beamforming wave decomposition. Journal of Sound and Vibration. 376:60-71. https://doi.org/10.1016/j.jsv.2016.04.035S607137

Perception of Reverberation in Domestic and Automotive Environments

nrpages: 227status: publishe

An Economic and Life Cycle Analysis of Regional Land Use and Transportation Plans, Research Report 11-25

Travel and emissions models are commonly applied to evaluate the change in passenger and commercial travel and associated greenhouse gas (GHG) emissions from land use and transportation plans. Analyses conducted by the Sacramento Area Council of Governments predict a decline in such travel and emissions from their land use and transportation plan (the “Preferred Blueprint” or PRB scenario) relative to a “Business-As-Usual” scenario (BAU). However, the lifecycle GHG effects due to changes in production and consumption associated with transportation and land use plans are rarely, if ever, conducted. An earlier study conducted by the authors, applied a spatial economic model (Sacramento PECAS) to the PRB plan and found that lower labor, transport, and rental costs increased producer and consumer surplus and production and consumption relative to the BAU. As a result, lifecycle GHG emissions from these upstream economic activities may increase. At the same time, lifecycle GHG emissions associated with the manufacture of construction materials for housing may decline due to a shift in the plan from larger luxury homes to smaller multi-family homes in the plan. To explore the net impact of these opposing GHG impacts, the current study used the economic production and consumption data from the PRB and BAU scenarios as simulated with the Sacramento PECAS model as inputs to estimate the change in lifecycle GHG emissions. The economic input-output lifecycle assessment model is applied to evaluate effects related to changes in economic production and consumption as well as housing construction. This study also builds on the findings from two previous studies, which suggest potential economic incentives for jurisdictional non-compliance with Sustainable Communities Strategies (SCSs) under Senate Bill 375 (also known as the “anti-sprawl” bill). SB 375 does not require local governments to adopt general plans that are consistent with the land use plans included in SCSs, and thus such incentives could jeopardize implementation of SCSs and achievement of GHG goals. In this study, a set of scenarios is simulated with the Sacramento PECAS model, in which multiple jurisdictions partially pursue the BAU at differing rates. The PRB is treated as a straw or example SCS. The scenarios are evaluated to understand how non-conformity may influence the supply of housing by type, and holding other factors constant, the geographic and income distribution of rents, wages, commute costs, and consumer surplus

Real-time sound synthesis of pass-by noise: comparison of spherical harmonics and time-varying filters

This paper proposes and compares two sound synthesis techniques to render a moving source for a fixed receiver position based on indoor pass-by noise measurements. The approaches are based on the time-varying infinite impulse response (IIR) filtering and spherical harmonics (SH) representation. The central contribution of the work is a framework for realistic moving source sound synthesis based on transfer functions measured using static far-field microphone arrays. While the SHs require a circular microphone array and a free-field propagation (delay, geometric spread), the IIR filtering relies on far-field microphones that correspond to the propagation path of the moving source. Both frameworks aim to provide accurate sound pressure levels in the far-field that comply with standards. Moreover, the frameworks can be extended to additional sources and filters (e.g. sound barriers) to create different moving source scenarios by removing the room size constraint. The results of the two sound synthesis approaches are preliminary evaluated and compared on a vehicle pass-by noise dataset and it is shown that both approaches are capable of accurately and efficiently synthesize a moving source

Automatic Dense 3D Scene Mapping from Non-overlapping Passive Visual Sensors for Future Autonomous Systems

The ever increasing demand for higher levels of autonomy for robots and vehicles means there is an ever greater need for such systems to be aware of their surroundings. Whilst solutions already exist for creating 3D scene maps, many are based on active scanning devices such as laser scanners and depth cameras that are either expensive, unwieldy, or do not function well under certain environmental conditions. As a result passive cameras are a favoured sensor due their low cost, small size, and ability to work in a range of lighting conditions. In this work we address some of the remaining research challenges within the problem of 3D mapping around a moving platform. We utilise prior work in dense stereo imaging, Stereo Visual Odometry (SVO) and extend Structure from Motion (SfM) to create a pipeline optimised for on vehicle sensing. Using forward facing stereo cameras, we use state of the art SVO and dense stereo techniques to map the scene in front of the vehicle. With significant amounts of prior research in dense stereo, we addressed the issue of selecting an appropriate method by creating a novel evaluation technique. Visual 3D mapping of dynamic scenes from a moving platform result in duplicated scene objects. We extend the prior work on mapping by introducing a generalized dynamic object removal process. Unlike other approaches that rely on computationally expensive segmentation or detection, our method utilises existing data from the mapping stage and the findings from our dense stereo evaluation. We introduce a new SfM approach that exploits our platform motion to create a novel dense mapping process that exceeds the 3D data generation rate of state of the art alternatives. Finally, we combine dense stereo, SVO, and our SfM approach to automatically align point clouds from non-overlapping views to create a rotational and scale consistent global 3D model

Data-centric Design and Training of Deep Neural Networks with Multiple Data Modalities for Vision-based Perception Systems

224 p.Los avances en visión artificial y aprendizaje automático han revolucionado la capacidad de construir sistemas que procesen e interpreten datos digitales, permitiéndoles imitar la percepción humana y abriendo el camino a un amplio rango de aplicaciones. En los últimos años, ambas disciplinas han logrado avances significativos,impulsadas por los progresos en las técnicas de aprendizaje profundo(deep learning). El aprendizaje profundo es una disciplina que utiliza redes neuronales profundas (DNNs, por sus siglas en inglés) para enseñar a las máquinas a reconocer patrones y hacer predicciones basadas en datos. Los sistemas de percepción basados en el aprendizaje profundo son cada vez más frecuentes en diversos campos, donde humanos y máquinas colaboran para combinar sus fortalezas.Estos campos incluyen la automoción, la industria o la medicina, donde mejorar la seguridad, apoyar el diagnóstico y automatizar tareas repetitivas son algunos de los objetivos perseguidos.Sin embargo, los datos son uno de los factores clave detrás del éxito de los algoritmos de aprendizaje profundo. La dependencia de datos limita fuertemente la creación y el éxito de nuevas DNN. La disponibilidad de datos de calidad para resolver un problema específico es esencial pero difícil de obtener, incluso impracticable,en la mayoría de los desarrollos. La inteligencia artificial centrada en datos enfatiza la importancia de usar datos de alta calidad que transmitan de manera efectiva lo que un modelo debe aprender. Motivada por los desafíos y la necesidad de los datos, esta tesis formula y valida cinco hipótesis sobre la adquisición y el impacto de los datos en el diseño y entrenamiento de las DNNs.Específicamente, investigamos y proponemos diferentes metodologías para obtener datos adecuados para entrenar DNNs en problemas con acceso limitado a fuentes de datos de gran escala. Exploramos dos posibles soluciones para la obtención de datos de entrenamiento, basadas en la generación de datos sintéticos. En primer lugar, investigamos la generación de datos sintéticos utilizando gráficos 3D y el impacto de diferentes opciones de diseño en la precisión de los DNN obtenidos. Además, proponemos una metodología para automatizar el proceso de generación de datos y producir datos anotados variados, mediante la replicación de un entorno 3D personalizado a partir de un archivo de configuración de entrada. En segundo lugar, proponemos una red neuronal generativa(GAN) que genera imágenes anotadas utilizando conjuntos de datos anotados limitados y datos sin anotaciones capturados en entornos no controlados

A systematic review of perception system and simulators for autonomous vehicles research

This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.This work was partially supported by DGT (ref. SPIP2017-02286) and GenoVision (ref. BFU2017-88300-C2-2-R) Spanish Government projects, and the “Research Programme for Groups of Scientific Excellence in the Region of Murcia" of the Seneca Foundation (Agency for Science and Technology in the Region of Murcia – 19895/GERM/15)