{"id":"https://openalex.org/W2130642871","doi":"https://doi.org/10.1109/iros.2009.5354308","title":"Evaluating real-time audio localization algorithms for artificial audition in robotics","display_name":"Evaluating real-time audio localization algorithms for artificial audition in robotics","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2130642871","doi":"https://doi.org/10.1109/iros.2009.5354308","mag":"2130642871"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354308","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5060447249","display_name":"Anthony P. Badali","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Anthony Badali","raw_affiliation_strings":["Department of Electrical & Computer Engineering, University of Toronto, Canada","university of Toronto,Department of electrical and computer engineering,Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"university of Toronto,Department of electrical and computer engineering,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021269794","display_name":"Jean-Marc Valin","orcid":"https://orcid.org/0000-0002-9883-6927"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Marc Valin","raw_affiliation_strings":["Octasic Semiconductor, Canada"],"affiliations":[{"raw_affiliation_string":"Octasic Semiconductor, Canada","institution_ids":[]}]},{"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":"Francois Michaud","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Universit\u00e9 de Sherbrook, Canada","Universit\u00e9 de Sherbrooke,Department of Electrical and Computer Engineering,,,,Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Universit\u00e9 de Sherbrook, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Universit\u00e9 de Sherbrooke,Department of Electrical and Computer Engineering,,,,Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022159821","display_name":"Parham Aarabi","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Parham Aarabi","raw_affiliation_strings":["Department of Electrical & Computer Engineering, University of Toronto, Canada","university of Toronto,Department of electrical and computer engineering,Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"university of Toronto,Department of electrical and computer engineering,Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060447249"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":3.2112,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92094967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2033","last_page":"2038"},"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/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11309","display_name":"Music and Audio Processing","score":0.9951000213623047,"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/computer-science","display_name":"Computer science","score":0.7413272261619568},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.7066180109977722},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7065017819404602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6919435262680054},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6394469738006592},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6188112497329712},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.6113088130950928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5071170330047607},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.4174755811691284},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.414715975522995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39617085456848145},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.338791161775589},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.19413602352142334},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.16211608052253723},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.12467309832572937},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09852302074432373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08237293362617493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7413272261619568},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.7066180109977722},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7065017819404602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6919435262680054},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6394469738006592},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6188112497329712},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.6113088130950928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5071170330047607},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.4174755811691284},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.414715975522995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39617085456848145},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.338791161775589},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.19413602352142334},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.16211608052253723},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.12467309832572937},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09852302074432373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08237293362617493},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354308","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W46672805","https://openalex.org/W1952545476","https://openalex.org/W1981446207","https://openalex.org/W2010416489","https://openalex.org/W2046317813","https://openalex.org/W2066650578","https://openalex.org/W2084533374","https://openalex.org/W2093010905","https://openalex.org/W2098635592","https://openalex.org/W2098651198","https://openalex.org/W2104422351","https://openalex.org/W2105976298","https://openalex.org/W2114863372","https://openalex.org/W2120464463","https://openalex.org/W2122951924","https://openalex.org/W2155743029","https://openalex.org/W2169147844","https://openalex.org/W2184670865","https://openalex.org/W3143917759","https://openalex.org/W6640723235","https://openalex.org/W6675877189","https://openalex.org/W6682496287"],"related_works":["https://openalex.org/W1879255185","https://openalex.org/W2769861442","https://openalex.org/W2120442551","https://openalex.org/W1980506188","https://openalex.org/W2900122540","https://openalex.org/W4240587264","https://openalex.org/W2011788874","https://openalex.org/W2041060376","https://openalex.org/W2098651198","https://openalex.org/W2126980866"],"abstract_inverted_index":{"Although":[0],"research":[1],"on":[2,19,27],"localization":[3,55,124],"of":[4,34,51,77,94],"sound":[5,40],"sources":[6,41],"using":[7,57,137],"microphone":[8,60],"arrays":[9],"has":[10,42],"been":[11,44],"carried":[12],"out":[13],"for":[14,65,91,104],"years,":[15],"providing":[16],"such":[17],"capabilities":[18],"robots":[20,28],"is":[21,63],"rather":[22,143],"new.":[23],"Artificial":[24],"audition":[25],"systems":[26],"currently":[29],"exist,":[30],"but":[31],"no":[32],"evaluation":[33,50],"the":[35,87,145],"methods":[36,90],"used":[37,121],"to":[38,122],"localize":[39],"yet":[43],"conducted.":[45],"This":[46],"paper":[47],"presents":[48],"an":[49],"various":[52],"real-time":[53],"audio":[54,96],"algorithms":[56],"a":[58,115,138],"medium-sized":[59],"array":[61],"which":[62,85],"suitable":[64],"applications":[66],"in":[67],"robotics.":[68],"The":[69],"techniques":[70],"studied":[71],"here":[72],"are":[73,109],"implementations":[74],"and":[75,126,130],"enhancements":[76],"steered":[78],"response":[79],"power":[80],"-":[81],"phase":[82],"transform":[83],"beamformers,":[84],"represent":[86],"most":[88],"popular":[89],"time":[92],"difference":[93],"arrival":[95],"localization.":[97],"In":[98],"addition,":[99],"two":[100],"different":[101],"grid":[102,142],"topologies":[103],"implementing":[105],"source":[106],"direction":[107,116,132],"search":[108],"also":[110],"compared.":[111],"Results":[112],"show":[113],"that":[114,127],"refinement":[117],"procedure":[118],"can":[119,134],"be":[120,135],"improve":[123],"accuracy":[125],"more":[128],"efficient":[129],"accurate":[131],"searches":[133],"performed":[136],"uniform":[139],"triangular":[140],"element":[141,148],"than":[144],"typical":[146],"rectangular":[147],"grid.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
