Auditory-aware navigation for mobile robots based on reflection-robust sound source localization and visual SLAM

摘要

Autonomous robot navigation using Simultaneous localization and mapping (SLAM) is essential for scene understanding by robots. Most existing systems use visual information, and even though such visual-based technologies are robust and useful for many situations, they have difficulty dealing with certain scenarios such as occluded goal or when the goal is out of frame. Introducing audio information to the navigation system solves these issues effectively. Several audio-based methods have been developed in the past to deal with these issues. However, these existing audio-based methods have been developed with the assumption that the space around the robot is open i.e. no sound reflection occurs. Hence, the invisible goals where the sound reflection can be localized have not been fully considered. This paper proposes a reflection-robust sound source localization method using visual SLAM. This method can deal with sound sources whose direct paths are not available, and using localization, we can set a goal only for the actual sound source. Also, to correct the drift present in the local estimates of Visual Odometry (VO), SLAM was integrated with the system, thus increasing the accuracy and robustness of mapping and navigation of our proposed method. The performance of the proposed system is compared to conventional methods, and it proves to be very efficient and robust especially in extremely reverberant situations. It was found that the integration of VO and SLAM improved the average error of a map by approximately 50 pts, and the accuracy of SSL for direct path of sounds was improved by approximately 8 pts. With the online implementation of these methods we successfully achieved audio visual navigation for the actual sound sources.