{"id":"https://openalex.org/W1989286028","doi":"https://doi.org/10.1109/iros.2010.5650170","title":"Continuous sound source localization based on microphone array for mobile robots","display_name":"Continuous sound source localization based on microphone array for mobile robots","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1989286028","doi":"https://doi.org/10.1109/iros.2010.5650170","mag":"1989286028"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5055675902","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0001-7720-275X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Key Laboratory of Machine Perception and Intelligence, Shenzhen Graduate School, Peking University, Shenzhen, China","Key Laboratory of Machine Perception and Intelligence, Peking University, Shenzhen Graduate School, 518055 CHINA"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence, Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence, Peking University, Shenzhen Graduate School, 518055 CHINA","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109921518","display_name":"Miao Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Shen","raw_affiliation_strings":["Key Laboratory of Machine Perception and Intelligence, Peking University, Beijing, China","Key Laboratory of Machine Perception and Intelligence, Peking University, Beijing, 100871 CHINA"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence, Peking University, Beijing, 100871 CHINA","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055675902"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":3.0691,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.91514274,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4332","last_page":"4339"},"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":0.9991000294685364,"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/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9951000213623047,"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/multilateration","display_name":"Multilateration","score":0.817840576171875},{"id":"https://openalex.org/keywords/reverberation","display_name":"Reverberation","score":0.7839327454566956},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.6915095448493958},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6851532459259033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6716296076774597},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.610844612121582},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6031895279884338},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5748010873794556},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.573045015335083},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.564167857170105},{"id":"https://openalex.org/keywords/a-weighting","display_name":"A-weighting","score":0.5184540152549744},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.511223554611206},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4506058692932129},{"id":"https://openalex.org/keywords/sound-localization","display_name":"Sound localization","score":0.4424659311771393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3699735105037689},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3583967089653015},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.3249102830886841},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.1599140167236328},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08519566059112549}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.817840576171875},{"id":"https://openalex.org/C95851461","wikidata":"https://www.wikidata.org/wiki/Q468809","display_name":"Reverberation","level":2,"score":0.7839327454566956},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.6915095448493958},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6851532459259033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6716296076774597},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.610844612121582},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6031895279884338},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5748010873794556},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.573045015335083},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.564167857170105},{"id":"https://openalex.org/C70136482","wikidata":"https://www.wikidata.org/wiki/Q13583781","display_name":"A-weighting","level":3,"score":0.5184540152549744},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.511223554611206},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4506058692932129},{"id":"https://openalex.org/C68236139","wikidata":"https://www.wikidata.org/wiki/Q765652","display_name":"Sound localization","level":2,"score":0.4424659311771393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3699735105037689},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3583967089653015},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.3249102830886841},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.1599140167236328},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08519566059112549},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5650170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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":17,"referenced_works":["https://openalex.org/W1786963892","https://openalex.org/W1985541849","https://openalex.org/W2012211082","https://openalex.org/W2034321638","https://openalex.org/W2046317813","https://openalex.org/W2067841448","https://openalex.org/W2093010905","https://openalex.org/W2104422351","https://openalex.org/W2105168508","https://openalex.org/W2122951924","https://openalex.org/W2127617367","https://openalex.org/W2129697784","https://openalex.org/W2139129402","https://openalex.org/W2147673046","https://openalex.org/W2155690020","https://openalex.org/W2168483376","https://openalex.org/W6659047458"],"related_works":["https://openalex.org/W2288274698","https://openalex.org/W4385361701","https://openalex.org/W4391643140","https://openalex.org/W2068968550","https://openalex.org/W2770231486","https://openalex.org/W2187684650","https://openalex.org/W2159296145","https://openalex.org/W2188292175","https://openalex.org/W4386900535","https://openalex.org/W1983991597"],"abstract_inverted_index":{"It":[0],"is":[1,69,89,97,203],"a":[2,7,22,31,61,83,129,140,153,166],"great":[3],"challenge":[4],"to":[5,71,127,148,186,220],"perform":[6],"sound":[8,87,134,225],"source":[9,88,226],"localization":[10,39,143],"system":[11],"for":[12,25,40,112,145,175,227],"mobile":[13,41,146,167],"robots,":[14],"because":[15],"noise":[16,76,195],"and":[17,94,118,177,196],"reverberation":[18,96,197],"in":[19,115,157],"room":[20,95],"pose":[21],"severe":[23],"threat":[24],"continuous":[26,142],"localization.":[27,191],"This":[28],"paper":[29,138],"presents":[30,139],"novel":[32],"approach":[33],"named":[34,67],"guided":[35],"spectro-temporal":[36],"(ST)":[37],"position":[38,107,223],"robots.":[42],"Firstly,":[43],"since":[44],"generalized":[45],"cross-correlation":[46],"(GCC)":[47],"function":[48,64],"based":[49],"on":[50,165],"time":[51],"delay":[52],"of":[53,65,75,86,133,152,155,171,182,190,224],"arrival":[54],"(TDOA)":[55],"can":[56],"not":[57],"get":[58],"accurate":[59,188],"peak,":[60],"new":[62],"weighting":[63,108],"GCC":[66],"PHAT-\u03c1\u03b3":[68,92],"proposed":[70],"weaken":[72],"the":[73,150,194,222],"effect":[74],"while":[77],"avoiding":[78],"intense":[79],"computational":[80],"complexity.":[81],"Secondly,":[82],"rough":[84],"location":[85,101,132],"obtained":[90],"by":[91],"method":[93,144],"estimated":[98],"using":[99],"such":[100],"as":[102],"priori":[103],"knowledge.":[104],"Thirdly,":[105],"ST":[106],"functions":[109,121],"are":[110,125,160,173,184,198],"used":[111,185],"each":[113,228],"cell":[114],"voice":[116],"segment":[117],"all":[119,123],"correlation":[120],"from":[122],"cells":[124],"integrated":[126],"obtain":[128,187],"more":[130,178],"optimistical":[131],"source.":[135],"Also,":[136],"this":[137],"fast,":[141],"robots":[147],"determine":[149],"locations":[151],"number":[154],"sources":[156],"real-time.":[158],"Experiments":[159],"performed":[161],"with":[162,205],"four":[163],"microphones":[164],"robot.":[168],"2736":[169],"sets":[170,181],"data":[172,183,202],"collected":[174],"testing":[176],"than":[179,209,217],"2500":[180],"results":[189],"Even":[192],"if":[193],"serious.":[199],"The":[200],"proportion":[201],"92%":[204],"angle":[206],"error":[207],"less":[208,216],"15":[210],"degrees.":[211],"What's":[212],"more,":[213],"it":[214],"takes":[215],"0.4":[218],"seconds":[219],"locate":[221],"data.":[229]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
