{"id":"https://openalex.org/W2120024193","doi":"https://doi.org/10.1109/icassp.2009.4960427","title":"2D sound source mapping from mobile robot using beamforming and particle filtering","display_name":"2D sound source mapping from mobile robot using beamforming and particle filtering","publication_year":2009,"publication_date":"2009-04-01","ids":{"openalex":"https://openalex.org/W2120024193","doi":"https://doi.org/10.1109/icassp.2009.4960427","mag":"2120024193"},"language":"en","primary_location":{"id":"doi:10.1109/icassp.2009.4960427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp.2009.4960427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Acoustics, Speech and Signal Processing","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113812356","display_name":"S. Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Kagami","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","JST-CREST, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"JST-CREST, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108120651","display_name":"Simon Thompson","orcid":"https://orcid.org/0000-0003-0264-2579"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Thompson","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","JST-CREST, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"JST-CREST, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102748358","display_name":"Yoko Sasaki","orcid":"https://orcid.org/0000-0002-1220-6124"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Sasaki","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057754307","display_name":"Hiroshi Mizoguchi","orcid":"https://orcid.org/0000-0002-1322-6098"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Mizoguchi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102238152","display_name":"T. Enomoto","orcid":null},"institutions":[{"id":"https://openalex.org/I2800996768","display_name":"Kansai Electric Power (Japan)","ror":"https://ror.org/03xrg8731","country_code":"JP","type":"company","lineage":["https://openalex.org/I2800996768"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Enomoto","raw_affiliation_strings":["Kansai Electric Power Company, Inc., Japan"],"affiliations":[{"raw_affiliation_string":"Kansai Electric Power Company, Inc., Japan","institution_ids":["https://openalex.org/I2800996768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113812356"],"corresponding_institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4210086780","https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.3579,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.58456519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3689","last_page":"3692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998999834060669,"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":0.9998999834060669,"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/T10822","display_name":"Acoustic Wave Phenomena Research","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9922000169754028,"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/beamforming","display_name":"Beamforming","score":0.6691167950630188},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.6678708791732788},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.6468234658241272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6387261152267456},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.6323761343955994},{"id":"https://openalex.org/keywords/side-lobe","display_name":"Side lobe","score":0.6314886808395386},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5648229122161865},{"id":"https://openalex.org/keywords/directional-sound","display_name":"Directional sound","score":0.5182130932807922},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.4449142813682556},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4312700033187866},{"id":"https://openalex.org/keywords/main-lobe","display_name":"Main lobe","score":0.42697829008102417},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.4164614975452423},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.3532307744026184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32894885540008545},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3174244165420532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2759033739566803},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.26016783714294434},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17420509457588196},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15748029947280884},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.08450502157211304}],"concepts":[{"id":"https://openalex.org/C54197355","wikidata":"https://www.wikidata.org/wiki/Q5782992","display_name":"Beamforming","level":2,"score":0.6691167950630188},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.6678708791732788},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.6468234658241272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6387261152267456},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.6323761343955994},{"id":"https://openalex.org/C181856588","wikidata":"https://www.wikidata.org/wiki/Q2040092","display_name":"Side lobe","level":3,"score":0.6314886808395386},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5648229122161865},{"id":"https://openalex.org/C104138954","wikidata":"https://www.wikidata.org/wiki/Q5280449","display_name":"Directional sound","level":3,"score":0.5182130932807922},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.4449142813682556},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4312700033187866},{"id":"https://openalex.org/C166923610","wikidata":"https://www.wikidata.org/wiki/Q6673925","display_name":"Main lobe","level":3,"score":0.42697829008102417},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.4164614975452423},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.3532307744026184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32894885540008545},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3174244165420532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2759033739566803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26016783714294434},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17420509457588196},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15748029947280884},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.08450502157211304}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icassp.2009.4960427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp.2009.4960427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Acoustics, Speech and Signal Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W2037592772","https://openalex.org/W2126980866","https://openalex.org/W2145268975","https://openalex.org/W2160811474"],"related_works":["https://openalex.org/W2170642318","https://openalex.org/W2179708541","https://openalex.org/W2061216600","https://openalex.org/W2341966922","https://openalex.org/W2124803305","https://openalex.org/W2120264472","https://openalex.org/W2316590552","https://openalex.org/W2369024638","https://openalex.org/W2601474177","https://openalex.org/W4294167419"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,23,29,67,87],"particle":[4],"filter":[5],"based":[6],"sound":[7,14,19,30,52,104,131],"source":[8,15,31],"mapping":[9],"system":[10],"that":[11,34,73],"builds":[12],"2D":[13],"maps":[16],"from":[17,22],"directional":[18,49,99],"readings":[20],"taken":[21],"mobile":[24],"robot.":[25],"The":[26],"method":[27,128],"uses":[28],"localization":[32,50,100],"model":[33],"is":[35,54,74],"represented":[36],"by":[37,76,106],"Gaussian":[38],"distribution":[39],"for":[40],"both":[41],"direction":[42],"and":[43,56,90,110,115],"distance.":[44],"To":[45],"do":[46],"this,":[47],"accurate":[48],"of":[51,101],"sources":[53,105,132],"required,":[55],"two":[57,134],"key":[58],"components":[59],"have":[60,81],"been":[61],"developed":[62],"to":[63,80],"achieve":[64],"this:":[65],"1)":[66],"32ch":[68],"low":[69],"side-lobe":[70],"microphone":[71],"array":[72],"designed":[75],"beam":[77],"forming":[78],"simulation":[79],"a)":[82],"an":[83],"omni-directional":[84],"response,":[85],"b)":[86],"narrower":[88],"main-lobe,":[89],"c)":[91],"lower":[92],"side-lobes,":[93],"in":[94,133],"700-2500[Hz]":[95],"acoustic":[96],"signals;":[97],"2)":[98],"different":[102],"pressure":[103],"combining":[107],"the":[108,116,126],"Delay":[109],"Sum":[111],"Beam":[112],"Forming":[113],"(DSBF)":[114],"Frequency":[117],"Band":[118],"Selection":[119],"(FBS)":[120],"methods.":[121],"Finally,":[122],"experimental":[123],"results":[124],"show":[125],"proposed":[127],"can":[129],"map":[130],"dimesionals":[135],"with":[136],"high":[137],"accuracy":[138],"(less":[139],"than":[140],"50[cm]":[141],"error).":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
