Robust Localization of Mobile Robot in Reverberant Rooms Using Acoustic Beacons with Iterative Bayesian Filtering

摘要

A method of estimating location by acoustical signal and microphone array without the detection of direction-of-arrival is proposed. The proposed method consists of the following steps. First, acoustic beacons in the environment emit signals and the localizing target receives the signals with a microphone array. Next, the localizing target calculates the probability distribution of the location by a particle filter. The cross-correlation functions of the microphone array elements correspond to the location and beacon arrangement. Herein, the cross-correlation functions are used as a likelihood function by projecting them to the localizing state space. The localization result is calculated as the weighted sum of the particles based on their likelihoods. The proposed method is tested and evaluated in an indoor environment with four beacons. The result shows that the proposed method can achieve better localization than the previous method.