{"id":"https://openalex.org/W2145268975","doi":"https://doi.org/10.1109/icassp.2006.1661100","title":"Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering","display_name":"Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering","publication_year":2006,"publication_date":"2006-08-03","ids":{"openalex":"https://openalex.org/W2145268975","doi":"https://doi.org/10.1109/icassp.2006.1661100","mag":"2145268975"},"language":"en","primary_location":{"id":"doi:10.1109/icassp.2006.1661100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp.2006.1661100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE International Conference on Acoustics Speed and Signal Processing Proceedings","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1604.01642","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021269794","display_name":"Jean-Marc Valin","orcid":"https://orcid.org/0000-0002-9883-6927"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["AU","CA"],"is_corresponding":true,"raw_author_name":"J.-M. Valin","raw_affiliation_strings":["CSIRO ICT Centre, Marsfield, NSW, Australia","Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","CSIRO ICT Centre, Marsfield NSW"],"affiliations":[{"raw_affiliation_string":"CSIRO ICT Centre, Marsfield, NSW, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"CSIRO ICT Centre, Marsfield NSW","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171860","display_name":"Fran\u00e7ois Michaud","orcid":"https://orcid.org/0000-0002-3639-7770"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Michaud","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrooke, 2500 boul. Universit\u00e9, Sherbrooke, Quebec, Canada, J1K 2R1, jean-marc.valin@csiro.au"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrooke, 2500 boul. Universit\u00e9, Sherbrooke, Quebec, Canada, J1K 2R1, jean-marc.valin@csiro.au","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026332327","display_name":"Jean Rouat","orcid":"https://orcid.org/0000-0002-9306-426X"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Rouat","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","[Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"[Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada]","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021269794"],"corresponding_institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I135117807"],"apc_list":null,"apc_paid":null,"fwci":6.4483,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.97168438,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"IV","last_page":"841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11309","display_name":"Music and Audio Processing","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.8261952996253967},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7806931734085083},{"id":"https://openalex.org/keywords/beamforming","display_name":"Beamforming","score":0.6866994500160217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6605550050735474},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5530185103416443},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5150213241577148},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4900761842727661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4510478675365448},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.44241252541542053},{"id":"https://openalex.org/keywords/source-tracking","display_name":"Source tracking","score":0.41996362805366516},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4149520993232727},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3604031205177307},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.34903484582901},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.19037926197052002},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11442723870277405},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10657218098640442},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07384490966796875},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06442192196846008}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.8261952996253967},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7806931734085083},{"id":"https://openalex.org/C54197355","wikidata":"https://www.wikidata.org/wiki/Q5782992","display_name":"Beamforming","level":2,"score":0.6866994500160217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6605550050735474},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5530185103416443},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5150213241577148},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4900761842727661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4510478675365448},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.44241252541542053},{"id":"https://openalex.org/C2779167275","wikidata":"https://www.wikidata.org/wiki/Q7565165","display_name":"Source tracking","level":2,"score":0.41996362805366516},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4149520993232727},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3604031205177307},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.34903484582901},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.19037926197052002},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11442723870277405},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10657218098640442},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07384490966796875},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06442192196846008},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icassp.2006.1661100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp.2006.1661100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE International Conference on Acoustics Speed and Signal Processing Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1604.01642","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1604.01642","pdf_url":"https://arxiv.org/pdf/1604.01642","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.71.9505","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.71.9505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.gel.usherb.ca/laborius/papers/ICASSP2006.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.76.5961","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.76.5961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.xiph.org/~jm/papers/valin_icassp2006.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1604.01642","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1604.01642","pdf_url":"https://arxiv.org/pdf/1604.01642","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1585462502","https://openalex.org/W1991218276","https://openalex.org/W2107493093","https://openalex.org/W2115839677","https://openalex.org/W2121973264","https://openalex.org/W2126736494","https://openalex.org/W2126942983","https://openalex.org/W2137192709","https://openalex.org/W2139129402","https://openalex.org/W3147539069","https://openalex.org/W3173503818","https://openalex.org/W4388085068","https://openalex.org/W6797375751"],"related_works":["https://openalex.org/W1989212443","https://openalex.org/W2103644279","https://openalex.org/W4302986566","https://openalex.org/W1968585197","https://openalex.org/W2135362996","https://openalex.org/W4247544095","https://openalex.org/W2122155275","https://openalex.org/W2163346880","https://openalex.org/W2787121490","https://openalex.org/W4385679142"],"abstract_inverted_index":{"In":[0,59],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,26,38,60,93],"new":[6],"robust":[7],"sound":[8],"source":[9],"localization":[10],"and":[11,53],"tracking":[12,41],"method":[13,24],"using":[14],"an":[15,68],"array":[16],"of":[17,56,83],"eight":[18],"microphones":[19],"(US":[20],"patent":[21],"pending).":[22],"The":[23,43],"uses":[25],"steered":[27],"beamformer":[28],"based":[29],"on":[30],"the":[31,51,54,57,63,75],"reliability-weighted":[32],"phase":[33],"transform":[34],"(RWPHAT)":[35],"along":[36],"with":[37,67],"particle":[39],"filter-based":[40],"algorithm.":[42],"proposed":[44],"system":[45],"is":[46,90],"able":[47],"to":[48,85],"estimate":[49],"both":[50],"direction":[52,64],"distance":[55,76],"sources.":[58],"videoconferencing":[61],"context,":[62],"was":[65,77],"estimated":[66],"accuracy":[69],"better":[70],"than":[71],"one":[72],"degree":[73],"while":[74],"accurate":[78],"within":[79],"10%":[80],"RMS.":[81],"Tracking":[82],"up":[84],"three":[86],"simultaneous":[87],"moving":[88],"speakers":[89],"demonstrated":[91],"in":[92],"noisy":[94],"environment":[95]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
