{"id":"https://openalex.org/W2963659062","doi":"https://doi.org/10.1109/icra.2018.8461268","title":"Reflection-Aware Sound Source Localization","display_name":"Reflection-Aware Sound Source Localization","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2963659062","doi":"https://doi.org/10.1109/icra.2018.8461268","mag":"2963659062"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5048070637","display_name":"Inkyu An","orcid":"https://orcid.org/0000-0001-6812-1587"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inkyu An","raw_affiliation_strings":["KAIST, School of Computing, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KAIST, School of Computing, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037369844","display_name":"Myungbae Son","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myungbae Son","raw_affiliation_strings":["KAIST, School of Computing, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KAIST, School of Computing, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, UNC-Chapel Hill, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, UNC-Chapel Hill, USA","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Eui Yoon","raw_affiliation_strings":["KAIST, School of Computing, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KAIST, School of Computing, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9905,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.94864107,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"66","last_page":"73"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11309","display_name":"Music and Audio Processing","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.8058807253837585},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.6596269607543945},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.5707253217697144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5662450790405273},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.5524088144302368},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5437825918197632},{"id":"https://openalex.org/keywords/ray-tracing","display_name":"Ray tracing (physics)","score":0.5314592123031616},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.5142111778259277},{"id":"https://openalex.org/keywords/source-tracking","display_name":"Source tracking","score":0.4725465774536133},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.43411922454833984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18830925226211548},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.18034577369689941},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.14655077457427979}],"concepts":[{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.8058807253837585},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.6596269607543945},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.5707253217697144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662450790405273},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.5524088144302368},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5437825918197632},{"id":"https://openalex.org/C121483023","wikidata":"https://www.wikidata.org/wiki/Q7298343","display_name":"Ray tracing (physics)","level":2,"score":0.5314592123031616},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.5142111778259277},{"id":"https://openalex.org/C2779167275","wikidata":"https://www.wikidata.org/wiki/Q7565165","display_name":"Source tracking","level":2,"score":0.4725465774536133},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.43411922454833984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18830925226211548},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.18034577369689941},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.14655077457427979},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8461268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W182689536","https://openalex.org/W1515932869","https://openalex.org/W1559975096","https://openalex.org/W1775883793","https://openalex.org/W1968034339","https://openalex.org/W2046317813","https://openalex.org/W2047760827","https://openalex.org/W2048630199","https://openalex.org/W2057868216","https://openalex.org/W2078841894","https://openalex.org/W2093010905","https://openalex.org/W2101856597","https://openalex.org/W2113638573","https://openalex.org/W2131182778","https://openalex.org/W2133844819","https://openalex.org/W2134069922","https://openalex.org/W2147953023","https://openalex.org/W2150269048","https://openalex.org/W2171355909","https://openalex.org/W2397560278","https://openalex.org/W2519758402","https://openalex.org/W2564683876","https://openalex.org/W2586821239","https://openalex.org/W2726368908","https://openalex.org/W4230727635","https://openalex.org/W4388475847","https://openalex.org/W6642088373","https://openalex.org/W6662456636","https://openalex.org/W6664908459","https://openalex.org/W6675200964","https://openalex.org/W6679389497","https://openalex.org/W6682042711","https://openalex.org/W6685239651","https://openalex.org/W6712434087","https://openalex.org/W6726621587","https://openalex.org/W6730954963","https://openalex.org/W6733130741","https://openalex.org/W6739926292"],"related_works":["https://openalex.org/W1879255185","https://openalex.org/W2769861442","https://openalex.org/W2120442551","https://openalex.org/W1980506188","https://openalex.org/W3131188960","https://openalex.org/W3043844709","https://openalex.org/W2354956048","https://openalex.org/W2293346636","https://openalex.org/W2544697576","https://openalex.org/W2389417561"],"abstract_inverted_index":{"We":[0,43,64,94,165],"present":[1],"a":[2,25,40,89,100,103,120,123,145,159],"novel,":[3],"reflection-aware":[4],"method":[5,98],"for":[6],"3D":[7,90],"sound":[8,22,46,49,91,117,134,163],"localization":[9,86,176],"in":[10,144],"indoor":[11],"environments.":[12],"Unlike":[13],"prior":[14],"approaches,":[15],"which":[16],"are":[17],"mainly":[18],"based":[19],"on":[20,99],"continuous":[21,114],"signals":[23,38,50,118],"from":[24,37],"stationary":[26,121],"source,":[27],"our":[28,97,129],"formulation":[29],"is":[30],"designed":[31],"to":[32,87,181],"localize":[33,132],"the":[34,53,133,169,175],"position":[35],"instantaneously":[36],"within":[39],"single":[41],"frame.":[42],"consider":[44],"direct":[45,69,184],"and":[47,67,70,79,107,115,161],"indirect":[48,172],"that":[51,168],"reach":[52],"microphones":[54],"after":[55],"reflecting":[56],"off":[57],"surfaces":[58],"such":[59],"as":[60],"ceilings":[61],"or":[62,122],"walls.":[63],"then":[65],"generate":[66],"trace":[68],"reflected":[71],"acoustic":[72,76,185],"paths":[73,82],"using":[74,183],"inverse":[75],"ray":[77],"tracing":[78],"utilize":[80],"these":[81],"with":[83,102,113,119,135,154],"Monte":[84],"Carlo":[85],"estimate":[88],"source":[92],"position.":[93],"have":[95],"implemented":[96],"robot":[101],"cube-shaped":[104],"microphone":[105],"array":[106],"tested":[108,143],"it":[109],"against":[110],"different":[111,127],"settings":[112],"intermittent":[116],"mobile":[124,160],"source.":[125,164],"Across":[126],"settings,":[128],"approach":[130],"can":[131],"an":[136],"average":[137],"distance":[138],"error":[139],"of":[140,147,171],"0.8":[141],"m":[142,149,152,156],"room":[146],"7":[148,151],"by":[150,178],"area":[153],"3":[155],"height,":[157],"including":[158],"non-line-of-sight":[162],"also":[166],"reveal":[167],"modeling":[170],"rays":[173],"increases":[174],"accuracy":[177],"40%":[179],"compared":[180],"only":[182],"rays.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
