Reflection-Aware Sound Source Localization

We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the position instantaneously from signals within a single frame. We consider direct sound and indirect sound signals that reach the microphones after reflecting off surfaces such as ceilings or walls. We then generate and trace direct and reflected acoustic paths using inverse acoustic ray tracing and utilize these paths with Monte Carlo localization to estimate a 3D sound source position. We have implemented our method on a robot with a cube-shaped microphone array and tested it against different settings with continuous and intermittent sound signals with a stationary or a mobile source. Across different settings, our approach can localize the sound with an average distance error of 0.8m tested in a room of 7m by 7m area with 3m height, including a mobile and non-line-of-sight sound source. We also reveal that the modeling of indirect rays increases the localization accuracy by 40% compared to only using direct acoustic rays.Comment: Submitted to ICRA 2018. The working video is available at (https://youtu.be/TkQ36lMEC-M

Improved source localization with LIGO India

A global network of advanced gravitational wave interferometric detectors is under construction. These detectors will offer an order of magnitude improvement in sensitivity over the initial detectors and will usher in the era of gravitational wave astronomy. In this paper, we evaluate the benefits of relocating one of the advanced LIGO detectors to India.Comment: 7 pages, 3 figures, accepted for publication in proceedings of ICGC2011 conference. Localization figures update

Source localization in random acoustic waveguides

Mode coupling due to scattering by weak random inhomogeneities in waveguides leads to loss of coherence of wave fields at long distances of propagation. This in turn leads to serious deterioration of coherent source localization methods, such as matched field. We study with analysis and numerical simulations how such deterioration occurs and introduce a novel incoherent approach for long range source localization in random waveguides. It is based on a special form of transport theory for the incoherent fluctuations of the wave field. We study theoretically the statistical stability of the method and illustrate its performance with numerical simulations. We also show how it can be used to estimate the correlation function of the random fluctuations of the wave speed