Autonomous Room Acoustic Measurements using Rapidly-Exploring Random Trees and Gaussian Processes
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A4 Artikkeli konferenssijulkaisussa
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Date
2023
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en
Pages
8
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Proceedings of the 10th Convention of the European Acoustics Association Forum Acusticum 2023, pp. 1655-1662, Proceedings of Forum Acusticum
Abstract
Various robot systems have been proposed in the past to automate the tedious and time-consuming room acoustic measurement process. While small-scale measurements within a limited area can be realized with robotic arms, room-scale measurements require robots that can travel larger distances and ideally navigate through their environment autonomously. In this paper, we propose a new measurement strategy for large-scale, autonomous, room-acoustic measurement robots. The measurement strategy uses rapidly-exploring random trees to determine multiple candidate paths, from which it chooses the best path for exploring the unvisited parts of the environment and reconstructing a target acoustic metric. Gaussian process regression is used to incrementally merge new acoustic data into a global estimate. We evaluate the measurement strategy in a multi-room scenario, utilizing a late reverberation metric and a robot system consisting of a source and a receiver robot. We demonstrate that the measurement strategy can be used to map and reconstruct late reverberation characteristics over a large area.Description
Keywords
room acoustic measurements, measurement robot, path planning, late reverberation
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Citation
Götz, G, Ananthabhotla, I, Amengual Garí, S V & Calamia, P T 2023, Autonomous Room Acoustic Measurements using Rapidly-Exploring Random Trees and Gaussian Processes . in Proceedings of the 10th Convention of the European Acoustics Association Forum Acusticum 2023 . Proceedings of Forum Acusticum, Associazione Italiana di Acustica, pp. 1655-1662, Forum Acusticum, Torino, Italy, 10/09/2023 . https://doi.org/10.61782/fa.2023.0796