10 papers
Dynamic Object Tracking and Masking for Visual SLAM
Jonathan Vincent, Mathieu Labbé, Jean-Samuel Lauzon +3
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their…
3D Localization of a Sound Source Using Mobile Microphone Arrays Referenced by SLAM
Simon Michaud, Samuel Faucher, François Grondin +5
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and…
GEV Beamforming Supported by DOA-based Masks Generated on Pairs of Microphones
Francois Grondin, Jean-Samuel Lauzon, Jonathan Vincent +1
Distant speech processing is a challenging task, especially when dealing with the cocktail party effect. Sound source separation is thus often required as a preprocessing step prio…
Lightweight and Optimized Sound Source Localization and Tracking Methods for Open and Closed Microphone Array Configurations
Francois Grondin, Francois Michaud
Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays…
Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering
Jean-Marc Valin, François Michaud, Jean Rouat
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer b…
Microphone array post-filter for separation of simultaneous non-stationary sources
Jean-Marc Valin, Jean Rouat, François Michaud
Microphone array post-filters have demonstrated their ability to greatly reduce noise at the output of a beamformer. However, current techniques only consider a single source of in…